Robot Analysis and Control

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John Wiley & Sons, 1986 - Technology & Engineering - 266 pages
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Introduces the basic concepts of robot manipulation--the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.
  

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Contents

GEOMETRY
15
DIFFERENTIAL MOTION
51
STATICS
73
DYNAMICS
93
TRAJECTORY CONTROL
133
A BrushUp on Control Theory
171
Uncertainty on the Inertia Matrix
179
COMPL1ANT MOTION CONTROL
185
PROBLEM SETS
219
BIBLIOGRAPHY
235
INDEX
263
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About the author (1986)

Haruhiko Asada is an Associate Professor at Kyoto University and Lecturer at MIT.

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