Robot dynamics and control

作者：Mark W. Spong · 发表于：Andalas University Repository (Andalas University) · 年份：1989 · 被引用次数：3821 · 研究领域：Robotic Mechanisms and Dynamics、Robot Manipulation and Learning、Soft Robotics and Applications

From the Publisher: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. Provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. Includes many worked examples, examples illustrating all aspects of the theory, and problems.