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Robot modeling and control /

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Bibliographic Details
Main Author: Spong, Mark W.
Other Authors: Hutchinson, Seth, Vidyasagar, M. (Mathukumalli), 1947-
Format: Book
Language:English
Published: Hoboken, NJ : John Wiley & Sons, [2006]
Subjects:
Robots > Control systems.
Robotics.
Robots.
Robots > Dynamics.
Robots > Commande, Systèmes de.
Robotique.
Regelung.
Roboter.
Online Access:Publisher description
Table of contents only
Contributor biographical information
Cover
Table of Contents:
  • 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.