TY  - BOOK
AU  - Koivo,Antti J.
TI  - Fundamentals for control of robotic manipulators
SN  - 0471857149
AV  - TJ211 .K65 1989
PY  - 1989///]
CY  - New York
PB  - Wiley
KW  - Robotics
KW  - Manipulators (Mechanism)
N1  - 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
ER  -