Author:
Craig, John J., 1955- author.
Edition Statement:Fourth edition.
ImprintNY, NY : Pearson, [2018]
Descriptionviii, 438 pages : illustrations ; 24 cm
Note:Introduction -- Spatial descriptions and transformations -- Manipulator kinematics -- Inverse manipulator kinematics -- Jacobians: velocities and static forces --Manipulator dynamics -- Trajectory generation -- Manipulator-mechanism design -- Linear control of manipulators -- Nonlinear control of manipulators -- Force control of manipulators -- Robot programming languages and systems -- Off-line programming systems -- Trigonometric identities -- The 24 angle-set conventions -- Some inverse-kinematic formulas -- Solutions to selected exercises.
Bibliography Note:Includes bibliographical references and index.
Note:Since its original publication in 1986, Craigs Introduction to Robotics: Mechanics and Control has been the leading textbook for teaching robotics at the university level. Blending traditional mechanical engineering material with computer science and control theoretical concepts, the text covers a range of topics, including rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear and non-linear control, force control methodologies, mechanical design aspects, and robotic programming. The 4th Edition features a balance of application and theory, introducing the science and engineering of mechanical manipulation--establishing and building on foundational understanding of mechanics, control theory, and computer science. With an emphasis on computational aspects of problems, the text aims to present material in a simple, intuitive way.
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