## Introduction to Robotics: Mechanics & ControlNow in its third edition, Introduction to Robotics by John J. Craig provides readers with real-world practicality with underlying theory presented. With one half of the material from traditional mechanical engineering material, one fourth control theoretical material, and one fourth computer science, the book covers rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear control, non-linear control, force control methodologies, mechanical design aspects and programming of robots. For engineers. |

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acceleration actuator angular velocity APborg applied Atan2 axis base frame calculate Cartesian space center of mass Chapter closed form compute configuration consider constraints control law control system coordinate system defined degrees of freedom Derive described desired dynamic equations end-effector Euler angles example FIGURE force control forces and torques friction function given goal frame goal point homogeneous transform industrial robots inertia tensor inverse kinematics Jacobian joint angles joint axes joint space joint torques kinematic equations link frames link parameters manipulator's mechanism Motoman move multiply notation origin of frame path position and orientation position control position vector problem PUMA reference frame relative to frame representation rigid body robot programming language rotation matrix Section sensors servo shown in Fig singularities six degrees solution solve specify station frame subroutine subspace tool frame trajectory variables velocity vector workcell workspace wrist frame write yaw angles zero