Fundamentals of Robotics: Analysis and Control

This lucid text is a comprehensive introduction to the fundamentals of robotics and to the analysis and control of industrial robots. The book, designed for senior-level undergraduate and beginning-level graduate students in the field of computer science, will also serve as a reference for practicing engineers. The topics are developed in nine comprehensive chapters. The first four chapters lay down the basic foundations in robotic manipulation, the algebraic "arm equation" and its solution, and techniques for planning robot motions. The remaining chapters cover more advanced topics including differential motion and statics, manipulations dynamics, torque-based control techniques, robotic vision, and high level task planning.