TY  - BOOK
AU  - Lynch,Kevin M.
AU  - Park,Frank C.
TI  - Modern robotics: mechanics, planning, and control 
SN  - 9781107156302
U1  - 629.892 23
PY  - 2019///
CY  - Cambridge, England
PB  - Cambridge University Press
KW  - Robotics
KW  - NGU-sh
KW  - Robots
KW  - control systems
KW  - Manipulators (mechanism)
KW  - dynamics
N1  - First published 2017, reprinted 2019; Includes bibliographical references and index; Foreword Roger Brockett -- Foreword Matthew Mason -- Preface -- Preview -- Configuration space -- Rigid-body motions -- Forward kinematics -- Velocity kinematics and statics -- Inverse kinematics -- Kinematics of closed chains -- Dynamics of open chains -- Trajectory generation -- Motion planning -- Robot control -- Grasping and manipulation -- 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  -