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.

Preface

 TABLE OF CONTENTS

 1 INTRODUCTION
 2 RIGID MOTIONS AND HOMOGENEOUS TRANSFOF-MATIONS
 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

 A TRIGONOMETRY
 B LINEAR ALGEBRA
 C DYNAMICAL SYSTEMS
 D LYAPUNOV STABILITY

 INDEX