TY  - BOOK
AU  - Spong,Mark W.
AU  - Hutchinson,Seth
AU  - Vidyasagar,M.
TI  - Robot modeling and control
SN  - 9780471649908 (hbk.) :
AV  - TJ211.35 .S75 2006
PY  - 2006///
CY  - Hoboken, NJ
PB  - Wiley
KW  - Robots
KW  - Control systems
KW  - Robotics
N1  - Includes bibliographical references (p. 459-470) and index; 1. Introduction -- 2. Rigid motions and homogeneous transformations -- 3. Forward and inverse kinematics -- 4. Velocity kinematics - the Jacobian -- 5. Path and trajectory planning -- 6. Independent joint control -- 7. Dynamics -- 8. Multivariable control -- 9. Force control -- 10. Geometric nonlinear control -- 11. Computer vision -- 12. Vision-based control -- A. Trigonometry -- B. Linear algebra -- C. Dynamical systems -- D. Lyapunov stability
ER  -