Craig, John J.,  1955- <br/><br/>
Introduction to robotics :  mechanics and control / 
John J. Craig. 
 - 3rd ed. 
 - Upper Saddle River, N.J. :  Pearson/Prentice Hall,  c2005. 
 - viii, 400 p. :  ill. ;  25 cm. 
<br/><br/>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. 
<br/><br/><label>ISBN: </label>0131236296 (pbk.) 9780131236295 (pbk.) 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Robotics.
<br/><br/><label>Dewey Class. No.: </label>629.892  / CRA