Introduction to Robotics : Mechanics and Control

Preface v 1 Introduction 1(18) 2 Spatial descriptions and transformations 19(43) 3 Manipulator kinematics 62(39) 4 Inverse manipulator kinematics 101(34) 5 Jacobians: velocities and static forces 135(30) 6 Manipulator dynamics 165(36) 7 Trajectory generation 201(29) 8 Manipulator-mechanism design 230(32) 9 Linear control of manipulators 262(28) 10 Nonlinear control of manipulators 290(27) 11 Force control of manipulators 317(22) 12 Robot programming languages and systems 339(14) 13 Off-line programming systems 353(19) A Trigonometric identities 372(2) B The 24 angle-set conventions 374(3) C Some inverse-kinematic formulas 377(2) Solutions to selected exercises 379(8) Index 387