TY  - BOOK
AU  - Craig,John J.
TI  - Introduction to robotics: mechanics and control 
SN  - 0131236296
AV  - TJ211 .C67 2005
PY  - 2005///
CY  - New Jersey
PB  - Pearson Prentice Hall
KW  - Robotics
N1  - Includes bibliographical references and index; Introduction; -- Spatial descriptions and transformations; -- Manipulator kinematics; -- Inverse manipulator kinematics; -- Jacobians: velocities and static forces; -- Manipulator dynamics; -- Trajectory generation; -- Manipulator-mechanism design; -- Linear control of manipulators; -- Nonlinear control of manipulators; -- Force conrol of manipulators; -- Robot programming languages and systems; -- Off-line programming systems; -- Trigonometric identities; -- The 24 angle-set conventions; -- Some inverse-kinematic formulas; -- Solutions to selected exercises
ER  -