Robot Dynamics And Control

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.

Mark W. Spong is Donald Biggar Willett Professor of Engineering at the University of Illinois at Urbana-Champaign. Dr. Spong is the 2005 President of the IEEE Control Systems Society and past Editor-in-Chief of the IEEE Transactions on Control Systems Technology.

Mathukumalli Vidyasagar is currently Executive Vice President in charge of Advanced Technology at Tata Consultancy Services, India's largest IT firm. Dr. Vidyasagar was formerly the director of the Centre for Artificial Intelligence and Robotics, under Government of India Ministry of Defense.

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.