Craig John J. Introduction to Robotics: Mechanics and Control

3rd edition. — Prentice Hall, 2005. — 408 p. — ISBN: 0-13-123629-6.Now in its third edition, Introduction to Robotics by John J. Craig provides readers with real-world practicality with underlying theory presented. With one half of the material from traditional mechanical engineering material, one fourth control theoretical material, and one fourth computer science, the book covers rigid-body transformations, forward and inverse positional kinematics, velocities and Jacobians of linkages, dynamics, linear control, non-linear control, force control methodologies, mechanical design aspects and programming of robots. For engineers.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 control 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.