From the Book - Regular Print - Fourth edition.
2 Spatial Descriptions and Transformations 21 --
3 Manipulator Kinematics 67 --
4 Inverse Manipulator Kinematics 109 --
5 Jacobians: Velocities and Static Forces 145 --
6 Manipulator Dynamics 177 --
7 Trajectory Generation 215 --
8 Manipulator-Mechanism Design 245 --
9 Linear Control of Manipulators 285 --
10 Nonlinear Control of Manipulators 315 --
11 Force Control of Manipulators 351 --
12 Robot Programming Languages and Systems 375 --
13 Off-Line Programming Systems 389.
From the Book - Regular Print - Third edition.
Spatial descriptions and transformations
Inverse manipulator kinematics
Jacobians: velocities and static forces
Manipulator-mechanism design
Linear control of manipulators
Nonlinear control of manipulators
Force conrol of manipulators
Robot programming languages and systems
Off-line programming systems
The 24 angle-set conventions
Some inverse-kinematic formulas
Solutions to selected exercises.