Robotic Systems; Kinematics for Manipulator Joints, Links, and Gripper; Inverse Solution to Kinematic Equations; Generalized Velocity and Torque Relations in Joint and Base Coordinates; Determination of Dynamical Models for Manipulators; State Variable Representation and Linearization of Nonlinear Models; Trajectory Planning for Manipulator Motion; Primary and Secondary Controller Design for Gross Motion of Manipulators; Adaptive Control of Manipulator Gross Motion; Control of Generalized Contact Forces Exerted by Robot Manipulator; Appendices; Index.
