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Robot Modeling and Control

Robot Modeling and Control - 06 edition

Robot Modeling and Control - 06 edition

ISBN13: 9780471649908

ISBN10: 0471649902

Robot Modeling and Control by Mark W. Spong, Seth Hutchinson and M. Vidyasagar - ISBN 9780471649908
Cover type: Hardback
Edition: 06
Copyright: 2006
Publisher: John Wiley & Sons, Inc.
Published:
International: No
Robot Modeling and Control by Mark W. Spong, Seth Hutchinson and M. Vidyasagar - ISBN 9780471649908

ISBN13: 9780471649908

ISBN10: 0471649902

Cover type: Hardback
Edition: 06

List price: $180.00

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Summary

Based on the highly successful classic, Robot Dynamics and Control, by Spong and Vidyasagar (Wiley, 1989), Robot Modeling and Control offers a thoroughly up-to-date, self-contained introduction to the field. The text presents basic and advanced material in a style that is at once readable and mathematically rigorous.

Key Features

  • A step-by-step computational approach helps you derive and compute the forward kinematics, inverse kinematics, and Jacobians for the most common robot designs.
  • Detailed coverage of vision and visual servo control enables you to program robots to manipulate objects sensed by cameras.
  • An entire chapter on dynamics prepares you to compute the dynamics of the most common manipulator designs.
  • The most common motion planning and trajectory generation algorithms are presented in an elementary style.
  • The comprehensive treatment of motion and force control includes both basic and advanced methods.
  • The text's treatment of geometric nonlinear control is more readable than in more advanced texts.
  • Many worked examples and an extensive list of problems illustrate all aspects of the theory.
  • About the authors

Table of Contents

Table of Contents

Preface.
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.
Appendix A: Trigonometry.
Appendix B: Linear Algebra.
Appendix C: Dynamical Systems.
Appendix D: Lyapunov Stability.
Index.