TY  - BOOK
AU  - Lynch, Kevin M.
AU  - Park, Frank C.
TI  - Modern robotics: mechanics planning and control
SN  - 9781107156302 (hb.)
U1  - 629.892 
PY  - 2017///
CY  - Cambridge
PB  - Cambridge University Press
KW  - Robotics
KW  - Robots - Control systems
KW  - Robots - Design and construction
N1  - https://www.cambridge.org/in/academic/subjects/computer-science/computer-graphics-image-processing-and-robotics/modern-robotics-mechanics-planning-and-control?format=HB&isbn=9781107156302
N2  - Table of Contents

Foreword Roger Brockett
Foreword Matthew Mason
Preface
1. Preview
2. Configuration space
3. Rigid-body motions
4. Forward kinematics
5. Velocity kinematics and statics
6. Inverse kinematics
7. Kinematics of closed chains
8. Dynamics of open chains
9. Trajectory generation
10. Motion planning
11. Robot control
12. Grasping and manipulation
13. Wheeled mobile robots
Appendix A. Summary of useful formulas
Appendix B. Other representations of rotations
Appendix C. Denavit–Hartenberg parameters
Appendix D. Optimization and Lagrange multipliers
Bibliography
Index
ER  -