000			01413nam a22001697a 4500
005			20240216105738.0
008			240216b |||||||| |||| 00| 0 eng d
020			_a9788126517800
082			_a629.8 _bSPO
100			_aMark W. Spong, M. Vidyasagar
245			_aRobot Dynamics and Control _cMark W. Spong, M. Vidyasagar
260			_aINIDA _bWILEY _c2004
300			_a336P
505			_tRigid 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.
520			_aThis 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.
942			_2ddc _cBK
999			_c2071 _d2071