## Introduction to Robotics: Mechanics and Control |

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nice one

### Contents

Introduction | 1 |

Spatial descriptions and transformations | 19 |

Manipulator kinematics | 62 |

Copyright | |

15 other sections not shown

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### Common terms and phrases

acceleration actuator algorithm angular velocity application Atan2 axis calculate Cartesian space center of mass Chapter closed-loop compute configuration consider control law control system coordinate system critically damped defined degrees of freedom derive described desired dynamic equations end-effector error Euler angles example FIGURE force control friction function gear given goal point Hence homogeneous transform IEEE industrial robots inertia tensor input inverse kinematics Jacobian joint angles joint axes joint torques joint-space kinematic equations linear link frames link parameters manipulator's MATLAB mechanism Motoman move nonlinear notation OLP system path planar position and orientation prismatic problem PUMA relative result robot programming language Robotics and Automation Robotics Research rotation matrix Section sensors servo shaft shown in Fig simple simulation singularities six degrees solution solve specify station frame stiffness subroutine task teach pendant three-link tool frame torques trajectory transform values variables vector workcell workspace wrist write zero