Robot Modeling and Control (Hardcover, 2)

Preface i

Table of Contents vii

1 Introduction 1

I The Geometry of Robots 33

2 Rigid Motions 35

3 Forward Kinematics 75

4 Velocity Kinematics 101

5 Inverse Kinematics 141

II Dynamics and Motion Planning 163

6 Dynamics 165

7 Path and Trajectory Planning 215

III Control of Manipulators 269

8 Independent Joint Control 271

9 Nonlinear and Multivariable Control 311

10 Force Control 347

11 Vision-Based Control 367

12 Feedback Linearization 411

IV Control of Underactuated Systems 439

13 Underactuated Robots 441

14 Mobile Robots 481

A Trigonometry 525

B Linear Algebra 527

C Lyapunov Stability 541

D Optimization 553

E Camera Calibration 557

Bibliography 562

Index 577