Robot Modeling and Control

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  • Format: Hardcover
  • Copyright: 11/1/2005
  • Publisher: WILEY

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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. Book jacket.

Author Biography

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.

Table of Contents

1. Introduction.
2. Rigid Motions and Homogeneous Transformations.
3. Forward and Inverse Kinematics.
4. Velocity Kinematics-The Jacobian.
5. Path and Trajectory Planning.
6. Independent Joint Control.
7. Dynamics.
8. Multivariable Control.
9. Force Control.
10. Geometric Nonlinear Control.
11. Computer Vision.
12. Vision-Based Control.
Appendix A: Trigonometry.
Appendix B: Linear Algebra.
Appendix C: State Space Representation of Dynamical Systems.
Appendix D: Lyapunov Stability.

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