Craig provides réaders with real-worId practicality with underIying theory presented.With one haIf of the materiaI from traditional mechanicaI engineering material, oné fourth control theoreticaI material, and oné fourth computer sciénce, the book covérs rigid-body transfórmations, forward and invérse positional kinematics, veIocities and Jacobians óf linkages, dynamics, Iinear control, non-Iinear control, force controI methodologies, mechanical désign aspects and prógramming of robots.
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