机器人学导论（英文版 第4版）

目　　录 \n
1　概述1 \n
2　空间描述和变换21 \n
3　操作臂运动学67 \n
4　操作臂逆运动学109 \n
5　雅克比：速度和静力145 \n
6　操作臂动力学177 \n
7　轨迹生成215 \n
8　操作臂的机构设计245 \n
9　操作臂的线性控制285 \n
10　操作臂的非线性控制315 \n
11　操作臂的力控制351 \n
12　机器人编程语言及编程系统375 \n
13　离线编程系统389 \n
附录A　三角恒等式409 \n
附录B　24种角度组合411 \n
附录C　运动学公式415 \n
精选习题答案417 \n
Contents \n
1Introduction1 \n
2 Spatial Descriptions and Transformations21 \n
3 Manipulator Kinematics67 \n
4 Inverse Manipulator Kinematics109 \n
5 Jacobians: Velocities and Static Forces145 \n
6 Manipulator Dynamics177 \n
7 Trajectory Generation215 \n
8 Manipulator-Mechanism Design245 \n
9 Linear Control of Manipulators285 \n
10 Nonlinear Control of Manipulators315 \n
11 Force Control of Manipulators351 \n
12 Robot Progrmming Languages and Systems375 \n
13 Off-Line Programming Systems389 \n
A Trigonometric Identities409 \n
B The 24 Angle-Set Conventions411 \n
C Some Inverse-Kinematic Formulas415 \n
Solutions to Selected Exercises417