Robot Dynamics And Control at Meripustak

Robot Dynamics And Control

Books from same Author: Mark W Spong

Books from same Publisher: WILEY INDIA

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  • General Information  
    Author(s)Mark W Spong
    PublisherWILEY INDIA
    Publish YearJanuary 2008


    WILEY INDIA Robot Dynamics And Control by Mark W Spong

    This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems. TABLE OF CONTENTS · Rigid Motions and Homogeneous Transformations · Forward Kinematics: The Denavit-Hartenberg Representation · Inverse Kinematics · Velocity Kinematics: The Manipulator Jacobian · Dynamics · Independent Joint Control · Multivariable Control · Force Control · Feedback Linearization · Variable Structure and Adaptive Control References Suggested Reading Appendices Index