Asia Pacific University Library catalogue


Introduction to robotics : mechanics and control / John J. Craig.

By: Craig, John J, 1955-Material type: TextTextPublication details: Upper Saddle River, N.J. : Pearson Education, c2005Edition: 3rd int. edDescription: viii, 400 p. : ill. ; 25 cmISBN: 0131236296 (pbk.); 9780131236295 (pbk.)Subject(s): RoboticsDDC classification: 629.892 LOC classification: TJ211 | .C67 2005Online resources: Table of contents
Contents:
Introduction -- Spatial descriptions and transformations -- Manipulator kinematics -- Inverse manipulator kinematics -- Jacobians: velocities and static forces -- Manipulator dynamics -- Trajectory generation -- Manipulator-mechanism design -- Linear control of manipulators -- Nonlinear control of manipulators -- Force conrol of manipulators -- Robot programming languages and systems -- Off-line programming systems -- Trigonometric identities -- The 24 angle-set conventions -- Some inverse-kinematic formulas -- Solutions to selected exercises.
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Includes bibliographical references and index.

Introduction -- Spatial descriptions and transformations -- Manipulator kinematics -- Inverse manipulator kinematics -- Jacobians: velocities and static forces -- Manipulator dynamics -- Trajectory generation -- Manipulator-mechanism design -- Linear control of manipulators -- Nonlinear control of manipulators -- Force conrol of manipulators -- Robot programming languages and systems -- Off-line programming systems -- Trigonometric identities -- The 24 angle-set conventions -- Some inverse-kinematic formulas -- Solutions to selected exercises.

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