TY  - BOOK
AU  - Craig,John J.
TI  - Introduction to robotics: mechanics and control 
SN  - 0201543613
AV  - TJ 211 C72I 2005
PY  - 2005///
CY  - Upper Saddle River, N.J.
PB  - Pearson/Prentice-Hall [
KW  - ROBOTICS
N1  - Includes appendix 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  -