Robot Dynamics and Control Mark W. Spong, M. Vidyasagar

By:

Mark W. Spong, M. Vidyasagar

Material type: Text

TextPublication details: INIDA WILEY 2004Description: 336PISBN:

9788126517800

DDC classification:

629.8 SPO

Contents:

Rigid 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.

Summary: This 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.

List(s) this item appears in: New Arrivals (June 2024)

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Books	IIITDM Kurnool General Stacks	629.8 SPO (Browse shelf(Opens below))	Available	0005432
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Rigid 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.

This 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.

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