bookJan 1, 2006Closed access

Robot Modeling and Control

MWMark W. SpongSHSeth HutchinsonMVM. Vidyasagar

Linköping University

Abstract

Preface. 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: Dynamical Systems. Appendix D: Lyapunov Stability. Index.

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Topics & keywords

Topics
Keywords
  • Inverse kinematics
  • Jacobian matrix and determinant
  • Kinematics
  • Lyapunov function
  • Control theory (sociology)
  • Trajectory
  • Mathematics
  • Nonlinear system
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