Robot modeling and control

Spong, M.W.
ISBN/EAN 9780471649908
Druk 1
Based on the highly successful classic, Robot Dynamics and Control, by Spong and Vidyasagar (Wiley, 1989), Robot Modeling and Control offers a thoroughly up-to-date, self-contained introduction to the field. The text presents basic and advanced material in a style that is at once readable and mathematically rigorous.Key Features* A step-by-step computational approach helps you derive and compute the forward kinematics, inverse kinematics, and Jacobians for the most common robot designs.* Detailed coverage of vision and visual servo control enables you to program robots to manipulate objects sensed by cameras.* An entire chapter on dynamics prepares you to compute the dynamics of the most common manipulator designs.* The most common motion planning and trajectory generation algorithms are presented in an elementary style.* The comprehensive treatment of motion and force control includes both basic and advanced methods.* The text's treatment of geometric nonlinear control is more readable than in more advanced texts.* Many worked examples and an extensive list of problems illustrate all aspects of the theory
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