Introduction to Robotics Mechanics and Control
By John J. Craig
Now in its third edition, an introduction to Robotics by John J. Craig offers readers practical realism with the basic theory presented. With half of the material from conventional mechanical engineering materials, the fourth theoretical material for control, and computer science IV, the book covers transformations in the solid body, local kinetics of forward and reverse, velocities, and Jacobians of connectors, dynamics, linear control, non-linear control, power control methodologies , Aspects of mechanical design and programming of robots. For Engineers.
- Author
- John J. Craig
- Language
- English
- Size
- 4.62 Mb
- Pages
- 409
- Format
- Year
- 2004
- Edition
- 3
About This Book
Now in its third edition, an introduction to Robotics by John J. Craig offers readers practical realism with the basic theory presented. With half of the material from conventional mechanical engineering materials, the fourth theoretical material for control, and computer science IV, the book covers transformations in the solid body, local kinetics of forward and reverse, velocities, and Jacobians of connectors, dynamics, linear control, non-linear control, power control methodologies , Aspects of mechanical design and programming of robots. For Engineers.
Contents
- Chapter 1: Introduction
- Chapter 2: Spatial descriptions and transformations
- Chapter 3: Manipulator kinematics
- Chapter 4: Inverse manipulator kinematics
- Chapter 5: Jacobians: velocities and static forces
- Chapter 6: Manipulator dynamics
- Chapter 7: Trajectory generation
- Chapter 8: Manipulator-mechanism design
- Chapter 9: Linear control of manipulators
- Chapter 10: Nonlinear control of manipulators
- Chapter 11: Force control of manipulators
- Chapter 12: Robot programming languages and systems
- Chapter 13: Off-line programming systems