Addison-Wesley, 2nd edition, 1989, 450 pages This book provides
readers with real-world practicality with underlying theory
presented. With one half of the material from traditional
mechanical engineering material, one fourth control theoretical
material, and one fourth computer science, the book covers
rigid-body transformations, forward and inverse positional
kinematics, velocities and Jacobians of linkages, dynamics, linear
control, non-linear control, force control methodologies,
mechanical design aspects and programming of robots.
Craig J.J. Introduction to Robotics: Mechanics and Control
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