Robot Analysis and Control

by H. Asada, J.-J. E. Slotine

Overview

Introduces the basic concepts of robot manipulation—the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. Material is supported with abundant examples adapted from successful industrial practice or advanced research topics. Includes carefully devised conceptual diagrams, discussion of current research topics with references to the latest publications, and end-of-book problem sets. Appendixes. Bibliography.

Product Details

ISBN-13:	9780471830290
Publisher:	Wiley
Publication date:	01/16/1991
Pages:	288
Product dimensions:	7.83(w) x 9.55(h) x 0.81(d)

About the Author

Haruhiko Asada is Ford Professor of Engineering; Director, d'Arbeloff Laboratory for Information Systems and Technology; Head, Control, Instrumentation, and Robotics, at MIT. J.-J. E. Slotine is the author of Robot Analysis and Control, published by Wiley.

Table of Contents

Kinematics.

Instantaneous Kinematics.

Statics.

Dynamics.

Trajectory Control.

Compliant Motion Control.

Index.