Fundamentals for control of robotic manipulators / Antti J. Koivo.

Includes bibliographical references and index.

Kinematics for Manipulator Joints, Links, and Gripper Inverse Solution to Kinematic Equations Generalized Velocity and Torque Relations in Joint and Base Coordinates Determination of Dynamical Models for Manipulators State Variable Representation and Linearization of Nonlinear Models Trajectory Planning for Manipulator Motion Primary and Secondary Controller Design for Gross Motion of Manipulators Adaptive Control of Manipulator Gross Motion Control of Generalized Contact Forces Exerted by Robot Manipulator Appendices Index.