Robotics: Modelling, Planning and Control
by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo · Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo
Graduate textbook covering rigid-body kinematics, differential kinematics, dynamics, trajectory planning, motion control and force control for robot manipulators, plus mobile robots and visual servoing. Readers finish able to derive and control manipulator models mathematically.
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