دانلود کتاب Introduction to robotics : mechanics and control

Written for senior level or first year graduate level robotics courses, this text includes material from traditional mechanical engineering, control theoretical material and computer science. It includes coverage of rigid-body transformations and forward and inverse positional kinematics. Introduction -- Spatial descriptions and transformations -- Manipulator kinematics -- Inverse manipulator kinematics -- Jacobians: velocities and static forces -- Manipulator dynamics -- Trajectory generation -- Manipulator-mechanism design -- Linear control of manipulators -- Nonlinear control of manipulators -- Force conrol of manipulators -- Robot programming languages and systems -- Off-line programming systems -- Trigonometric identities -- The 24 angle-set conventions -- Some inverse-kinematic formulas -- Solutions to selected exercises