# The book provides a compressive overview of the fundamental skills underlying the mechanism and control of manipulators. # Detailed chapter on Velocity Transformations, jacobian and Singularities. # Trajectory Planning is developed using both joint space and Cartesian space methods. # Dynamic Modeling is treated by Lagrange-Euler and Euler-Newton formulations; complex derivations are put in the appendix to ensure a smooth flow for the reader.

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# A comprehensive chapter on Robotic Control covering control strategies like PD, PID, computed torque control, force and impedance control at an appropriate level. # A METLAB tutorial on using the package for Robotics is included as an appendix. # A full chapter on the industrial applications of robots. # All important industrial robot configurations with varying degrees of freedom are covered in various chapters and solved examples. # An elaborate chapter (Chapter 9) devoted to Robotic Sensors and Vision.

# Includes over 50 solved examples and more than 270 simple-to-complex end-of-chapter exercises. # Appendix on the underlying maths? Linear Algebra, Moment of Inertia Tensor and Equations of Motion. Table of contents Chapter 1 Introduction to Robotics Chapter 2 Coordinate Frames, Mapping and Transforms Chapter 3 Symbolic Modeling of Robots? Direct Kinematic Model Chapter 4 The Inverse Kinematics Chapter 5 Manipulator Differential Motion and Statics Chapter 6 Dynamic Modeling Chapter 7 Trajectory Planning Chapter 8 Control of Manipulators Chapter 9 Robotics Sensors and Vision Chapter 10 Robot Applications Appendix A: Review of Linear Algebra and Trigonometry Appendix B: METLAB and SIMULINK Appendix C: Link Mass Distribution and the Moment of Inertia Tensor Appendix D: Derivation of Equations of Motion Appendix E: List of Symbols Index Printed Pages: 487. Bookseller Inventory # 22271.