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Introduction to robotics : mechanics and control / John J. Craig.

By: Craig, John J, 1955-.
Publisher: Upper Saddle River, N.J. : Pearson/Prentice Hall, c2005Edition: 3rd ed.Description: viii, 400 p. : ill. ; 25 cm.ISBN: 0131236296 (pbk.); 9780131236295 (pbk.).Subject(s): RoboticsDDC classification: 629.892
Contents:
Preface.- 1. Introduction.- 2. Spatial descriptions and transformations.- 3. Manipulator kinematics.- 4. Inverse manipulator kinematics.- 5. Jacobians: velocities and static forces.- 6. Manipulator dynamics.- 7. Trajectory generation.- 8. Manipulator-mechanism design.- 9. Linear control of manipulators.- 10. Nonlinear control of manipulators.- 11. Force control of manipulators.- 12. Robot programming language and systems.- 13. Off-line programming systems.- A. Trigonometric identities.- B. The 24 angle-set conventions.- C. Some iverse-kinematic formulas.- Solution to selected execises.- Index.
Item type Current location Call number Copy number Status Notes Date due Barcode Remark
Main Collection TU External Storage-LCS
629.892 CRA (Browse shelf) 1 Available SOCIT,15008,02,GR 1001002394 Please fill up online form at https://taylorslibrary.taylors.edu.my/services/external_storage1

Preface.- 1. Introduction.- 2. Spatial descriptions and transformations.- 3. Manipulator kinematics.- 4. Inverse manipulator kinematics.- 5. Jacobians: velocities and static forces.- 6. Manipulator dynamics.- 7. Trajectory generation.- 8. Manipulator-mechanism design.- 9. Linear control of manipulators.- 10. Nonlinear control of manipulators.- 11. Force control of manipulators.- 12. Robot programming language and systems.- 13. Off-line programming systems.- A. Trigonometric identities.- B. The 24 angle-set conventions.- C. Some iverse-kinematic formulas.- Solution to selected execises.- Index.