Table of contents for Introduction to robotics : mechanics and control / John J. Craig.


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1 Introduction                                                      1
2 Spatial descriptions and transformations                         19
3 Manipulator kinematics                                           62
4 Inverse manipulator kinematics                                  101
5 Jacobians: velocities and static forces                         135
6 Manipulator dynamics                                            165
7 Trajectory generation                                           201
8 Manipulator-mechanism design                                    230
9 Linear control of manipulators                                  262
10 Nonlinear control of manipulators                              290
11 Force control of manipulators                                  317
12 Robot programming languages and systems                        339
13 Off-line programming systems                                   353
A Trigonometric identities                                        372
B The 24 angle-set conventions                                    374
C Some inverse-kinematic formulas                                 377



Library of Congress subject headings for this publication: Robotics