機器人學導論（英文版 第4版）

目　　錄 \n
1　概述1 \n
2　空間描述和變換21 \n
3　操作臂運動學67 \n
4　操作臂逆運動學109 \n
5　雅克比：速度和靜力145 \n
6　操作臂動力學177 \n
7　軌跡生成215 \n
8　操作臂的機構設計245 \n
9　操作臂的線性控制285 \n
10　操作臂的非線性控制315 \n
11　操作臂的力控制351 \n
12　機器人編程語言及編程系統(tǒng)375 \n
13　離線編程系統(tǒng)389 \n
附錄A　三角恒等式409 \n
附錄B　24種角度組合411 \n
附錄C　運動學公式415 \n
精選習題答案417 \n
Contents \n
1Introduction1 \n
2 Spatial Descriptions and Transformations21 \n
3 Manipulator Kinematics67 \n
4 Inverse Manipulator Kinematics109 \n
5 Jacobians: Velocities and Static Forces145 \n
6 Manipulator Dynamics177 \n
7 Trajectory Generation215 \n
8 Manipulator-Mechanism Design245 \n
9 Linear Control of Manipulators285 \n
10 Nonlinear Control of Manipulators315 \n
11 Force Control of Manipulators351 \n
12 Robot Progrmming Languages and Systems375 \n
13 Off-Line Programming Systems389 \n
A Trigonometric Identities409 \n
B The 24 Angle-Set Conventions411 \n
C Some Inverse-Kinematic Formulas415 \n
Solutions to Selected Exercises417