Table of Contents

The History of Robotics. Rigid-Body Kinematics. Inverse Kinematics. Newton-Euler Dynamics of Robots. Lagrangian Dynamics. Kane's Method in Robotics. The Dynamics of Systems of Interacting Rigid Bodies. D-H Convention. Trajectory Planning for Flexible Robots. Error Budgeting. Design of Robotic End Effectors. Sensors. Precision Positioning of Rotary and Linear Systems. Modeling and Identification for Robot Motion Control. Motion Control by Linear Feedback Methods. Force/Impedance Control for Robotic Manipulators. Robust and Adaptive Motion Control of Manipulators. Sliding Mode Control of Robotic Manipulators. Impedance and Interaction Control. Coordinated Motion Control of Multiple Manipulators. Robot Simulation. Survey of Geometric Vision. Haptic Interface to Virtual Environments. Flexible Robot Arms. Robotics in Medical Applications. Manufacturing Automation.

Reviews

"This is a wonderful reference for designing, modeling, controlling, and interfacing robotics…well presented…provides a great foundation relating manipulator tasks, design, and control…Modern techniques of force and impedance (hybrid) control, sliding mode control, and input shaping for vibration are shown with clear examples."
- International Journal of Engineering Education, October 2005