## Robot Analysis and ControlIntroduces 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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actuators algorithm angular velocity arbitrary arm configuration arm linkage Asada axes base coordinate frame base frame boundary layer centroid chapter column vectors compliance frame constraints control bandwidth control law coordinate transformation coupling force defined deflection degree-of-freedom manipulator degree-of-freedom planar manipulator degrees of freedom derive desired trajectory discussed end-effector endpoint force environment equations of motion Euler angles expression force F forces and moments friction given hybrid control impedance control individual joint industrial robots infinitesimal rotations input instantaneous kinematics inverse dynamics inverse kinematics Jacobian matrix joint axis joint displacements joint torques joint velocities kinematic chain kinematic equation linear Lyapunov function manipulator arm manipulator inertia tensor manipulator Jacobian manipulator of Figure mass properties mechanical Newton-Euler equations nonlinear null space O—xyz obtain parameters parametric uncertainty position and orientation problem recursive reference represents revolute joint rigid body robustness rotation matrix Section shown in Figure singular solutions stiffness structure term variables