Robot Dynamics and Control

ISBN-10: 047161243X
ISBN-13: 9780471612438
Edition: 1st 1989
List price: $231.95 Buy it from $20.54
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Description: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. Provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse  More...

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Book details

List price: $231.95
Edition: 1st
Copyright year: 1989
Publisher: John Wiley & Sons, Incorporated
Publication date: 1/18/1989
Binding: Paperback
Pages: 352
Size: 6.25" wide x 9.00" long x 0.75" tall
Weight: 1.100
Language: English

This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. 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. Includes many worked examples, examples illustrating all aspects of the theory, and problems.

Mark W. Spong is Donald Biggar Willett Professor of Engineering at the University of Illinois at Urbana-Champaign. Dr. Spong is the 2005 President of the IEEE Control Systems Society and past Editor-in-Chief of the IEEE Transactions on Control Systems Technology.Seth Hutchinson is currently a Professor at the University of Illinois in Urbana-Champaign, and a senior editor of the IEEE Transactions on Robotics and Automation. He has published extensively on the topics of robotics and computer vision.Mathukumalli Vidyasagar is currently Executive Vice President in charge of Advanced Technology at Tata Consultancy Services (TCS), India 's largest IT firm. Dr. Vidyasagar was formerly the director of the Centre for Artificial Intelligence and Robotics (CAIR), under Government of India's Ministry of Defense.

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

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