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Robot modeling and control Mark W. Spong, Seth Hutchinson, M. Vidyasagar.

By: Spong, Mark WContributor(s): Hutchinson, Seth | Vidyasagar, M. (Mathukumalli), 1947-Material type: Text

TextPublisher: Hoboken, NJ : John Wiley & Sons, c2006Description: 478 p. : ill. ; 25 cmISBN: 0471649902 (cloth); 9780471649908 (cloth)Subject(s): Robots -- Control systems | Robotics | Robots -- Commande, Systèmes de | RobotiqueDDC classification: 629.892 LOC classification: TJ211.35 | .S75 2006Online resources: Publisher description | Table of contents only

Contents:

Introduction -- Rigid motions and homogeneous transformations -- Forward and inverse kinematics -- Velocity kinematics - the Jacobian -- Path and trajectory planning -- Independent joint control -- Dynamics -- Multivariable control -- Force control -- Geometric nonlinear control -- Computer vision -- Vision-based control -- Trigonometry -- Linear algebra -- Dynamical systems -- Lyapunov stability.

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Item type	Current location	Home library	Collection	Shelving location	Call number	Status	Date due	Barcode	Item holds
Book	Central Library (CL)	Central Library (CL)	NFIC	General Stacks	629.892 SPO (Browse shelf)	Available		SEECS012437

Total holds: 0

Includes bibliographical references (p. 459-470) and index.

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 -- A. Trigonometry -- B. Linear algebra -- C. Dynamical systems -- D. Lyapunov stability.

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