Spong, Hutchinson, Vidyasagar:

Robot Modeling and Control

Student Companion Site

Table Of Contents

Chapter 1: Introduction

Chapter 2: Rigid Motions and Homogeneous Transformations

Chapter 3: Forward and Inverse Kinematics

Chapter 4: Velocity Kinematics-The Jacobian

Chapter 5: Path and Trajectory Planning

Chapter 6: Dynamics

Chapter 7: Independent Joint Control

Chapter 8: Multivariable Control

Chapter 9: Force Control

Chapter 10: Geometric Non-Linear Control

Chapter 11: Computer Vision

Chapter 12: Vision-Based Control
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