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CONTENTS xvii
A Review of Robot Kinematics and Jacobians 555
A.1 Basic Manipulator Geometries 555
A.2 Robot Kinematics 558
A.3 The Manipulator Jacobian 576
References 589
B Software for Controller Simulation 591
References 597
C Dynamics of Some Common Robot Arms 599
C.1 SCARA ARM 600
C.2 Stanford Manipulator 601
C.3 PUMA 560 Manipulator 603
References 607
Copyright © 2004 by Marcel Dekker, Inc.
