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Robotics: Mechanics, Mathematical Analysis and Control By Rami Khalil
eBook (PDF): $6.99
(1 Ratings)
This book provides a mathematical introduction to the mechanics and control of robots that can be modeled as kinematic chains. Topics covered include the concept of a robot’s configuration... More > space and degrees of freedom, static grasp analysis, the description of rigid body motions, kinematics of open and closed chain robots, dynamics of open chain robots, and the basics of robot control. The emphasis is not on the latest research trends and technological innovations in robotics, but on learning the fundamental concepts and core principles that underlie robotics as a scientific discipline. The intent is to help the reader acquire a unified set of analytic tools for the modeling and control of robots, together with a reliable physical intuition that recognizes the unique and interdisciplinary nature of robotics.< Less

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