TY  - BOOK
AU  - Craig,John J.
TI  - Introduction to robotics: mechanics and control 
SN  - 0131236296 (pbk.)
AV  - TJ211 .C67 2005
U1  - 629.892 22
PY  - 2005///
CY  - Upper Saddle River, N.J.
PB  - Pearson Education
KW  - Robotics
N1  - 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
UR  - http://www.loc.gov/catdir/toc/fy0604/2004275113.html
ER  -