Includes bibliographical references and index.

Introduction What Is a Robot? Robot ComponentsRobot Degrees-of-FreedomRobot ClassificationThe Aims and Scope of This BookMotion RepresentationSpatial Motion RepresentationMotion of a Rigid BodyHomogeneous TransformationsProblemsKinematicsIntroductionLoop Closure MethodKinematic Analysis of a Planar ManipulatorKinematic Analysis of Shoulder ManipulatorKinematic Analysis of Stewart-Gough PlatformProblemsJacobians: Velocities and Static ForcesIntroductionAngular and Linear VelocitiesJacobian Matrices of a Parallel ManipulatorVelocity Loop ClosureSingularity Analysis of Parallel ManipulatorsJacobian Analysis of a Planar ManipulatorJacobian Analysis of Shoulder ManipulatorJacobian Analysis of the Stewart-Gough PlatformStatic Forces in Parallel ManipulatorsStiffness Analysis of Parallel ManipulatorsProblemsDynamicsIntroductionDynamics of Rigid Bodies: A ReviewNewton-Euler FormulationVirtual Work FormulationLagrange FormulationProblemsMotion ControlIntroductionController TopologyMotion Control in Task SpaceRobust and Adaptive ControlMotion Control in Joint SpaceSummary of Motion Control TechniquesRedundancy ResolutionMotion Control of a Planar ManipulatorMotion Control of the Stewart-Gough PlatformProblemsForce ControlIntroductionController TopologyStiffness ControlDirect Force ControlImpedance ControlProblemsAppendix: Linear AlgebraVectors and MatricesVector and Matrix OperationsEigenvalues and Singular ValuesPseudo-InverseKronecker ProductAppendix: Trajectory PlanningPoint-to-Point MotionSpecified Path with Via PointsAppendix: Nonlinear Control ReviewDynamical SystemsStability DefinitionsLyapunov StabilityKrasovskii-Lasalle TheoremReferencesIndex.