Robotics And Control
Bibliographic details
Additional authors
Nagrath, I J
Summary
Key Features: The book provides a compressive overview of the fundamental skills underlying the mechanism and control of manipulators. Detailed chapter on Velocity Transformations, jacobian and Singularities. Trajectory Planning is developed using both joint space and Cartesian space methods. Dynamic Modeling is treated by Lagrange-Euler and Euler-Newton formulations; complex derivations are put in the appendix to ensure a smooth flow for the reader. A comprehensive chapter on Robotic Control covering control strategies like PD, PID, computed torque control, force and impedance control at an appropriate level. A METLAB tutorial on using the package for Robotics is included as an appendix.