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This book covers the fundamental kinematic and dynamic analysis of manipulator arms, and the key techniques for trajectory control and compliant motion control. It is intended to provide students and researchers with a sound scientific basis on the central aspects and concepts of robot manipulation. Throughout the book a strong emphasis is put on the physical meaning of the concepts introduced. The material is supported with abundant examples, most of which are adapted from successful industrial practice or advanced research topics. Carefully devised conceptual diagrams are provided to develop the reader's intuition. Each chapter includes a discussion of the current research topics where the reader is referred to the latest publications. The problem sets provided at the end of the book are tutorial in nature, and are carefully devised to develop the student's talent for synthesis. Most of them are comprehensive examples inspired from effective practical applications and advanced research topics.