Robot modeling and control / Mark W. Spong, Seth Hutchinson, M. Vidyasagar.
Material type:
TextPublisher: Hoboken, NJ : John Wiley and Sons, [2006]Copyright date: ©2006Description: 478 pages : illustrations ; 25 cmContent type: - text
- unmediated
- volume
- 0471649902
- 9780471649908
- 629.892 22 S.M.R
- TJ211.35 .S75 2006
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| 629.8323 M.F.E Electromechanical motion systems : design and simulation / | 629.89 F.M.D Digital control engineering : analysis and design / | 629.892 C.J.I Introduction to robotics : mechanics and control / | 629.892 S.M.R Robot modeling and control / | 629.895 M.M.M The 8051 microcontroller and embedded systems : | 629.895 M.M.P PIC microcontroller and embedded systems : using Assembly and C for PIC18 / | 629.895 P.F.P Programmable logic controllers / |
Includes bibliographical references (pages 459-470) and index.
{09}Introduction -- Rigid motions and homogeneous transformations -- Forward and inverse kinematics -- Velocity kinematics-The Jacobian -- Path and trajectory planning -- Dynamics -- Independent joint control -- Multivariable control -- Force control -- Geometric non-linear control -- Computer vision -- Vision-based control -- Appendix A Trigonometry -- Appendix B Linear algebra -- Appendix C Dynamical systems -- Appendix D Lyapunov stability -- Index.
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