Robotics: Analysis, Control, Planning, Programming, Sensing

Contents:

Preface
Chapter 1: Basic Concepts of Robotics: Structure and Classification of Robots	1
Chapter 2: Robot Kinematics	47
Chapter 3: Robot Statics	131
Chapter 4: Robot Dynamics	151
Chapter 5: Robot Control I : Path Planning and Basic Control Techniques	229
Chapter 6: Robot Control II : Robust and Adaptive Control	291
Chapter 7: Robot Control III : Compliance Control and Redundant Robots	371
Chapter 8: Analysis of Robot Manipulability and Work Space	405
Chapter 9: Robot Control IV : Multiple Robots, Mobile Robots and Mobile Manipulators	443
Chapter 10: Robot Control V : Flexible and Parallel Robots – Telemanipulators	503
Chapter 11: Robot Motion Planning for Obstacle Avoidance	563
Chapter 12: Robot Task Planning	625
Chapter 13: Robot Programming and Languages	677
Chapter 14: Robotic Hardware Components: Sensors, Motors, End Effectors, Controllers	713
Chapter 15: Robotic Computer Vision	765
Chapter 16: Integrated Robotic Systems and Applications: The Present and the Future of Robots	823
Literature	903