Summary and Info
Written for senior level or first year graduate level robotics courses, this text includes material from traditional mechanical engineering, control theoretical material and computer science. It includes coverage of rigid-body transformations and forward and inverse positional kinematics. Introduction -- Spatial descriptions and transformations -- Manipulator kinematics -- Inverse manipulator kinematics -- Jacobians: velocities and static forces -- Manipulator dynamics -- Trajectory generation -- Manipulator-mechanism design -- Linear control of manipulators -- Nonlinear control of manipulators -- Force conrol of manipulators -- Robot programming languages and systems -- Off-line programming systems -- Trigonometric identities -- The 24 angle-set conventions -- Some inverse-kinematic formulas -- Solutions to selected exercises
More About the Author
Frank Cooper Craighead, Jr. (August 14, 1916 – October 21, 2001) and John Johnson Craighead (August 14, 1916 – September 18, 2016), twin brothers, were American conservationists, naturalists, and researchers who made important contributions to the study of falconry and grizzly bear biology.
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