## Foundations of Robotics: Analysis and ControlFoundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators. It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory. Illustrative examples appear throughout.The author begins by discussing typical robot manipulator mechanisms and their controllers. He then devotes three chapters to the analysis of robot manipulator mechanisms. He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation. A chapter on dynamics includes the derivation of the dynamic equations of motion, their use for control and simulation and the identification of inertial parameters. The final chapter develops the concept of manipulability. The second half focuses on the control of robot manipulators. Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described. Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theory. Tsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering. |

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acceleration algorithm angles applied approach arbitrary assume avoidance axes axis calculate called chapter coefficient compensator computation condition consider constant constraint coordinate corresponding defined degrees of freedom denote derived described desired desired trajectory determined developed Differentiating direction dynamics elements ellipsoid end effector equation equations of motion error example expressed final force formulation frame function given given by equation hand Hence homogeneous transform impedance inertia initial inverse Jacobian joint kinematics linear link frames manipulability measure manipulator mass matrix means mechanism method move Note object obtain orientation origin parameters position possible problem redundancy reference frame regarded relation represents respect result Robot Robot Manipulators rotation satisfies sensor servo shown in figure shows singular configurations solution stability subsection subtask task term tion transform translational two-link manipulator variables vector velocity wrist