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Selig J.M. Introductory robotics

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Selig J.M. Introductory robotics
Prentice-Hall, 1992. — viii, 152 p. — ISBN 0-13-488875-8.
One of the main purposes of this book is to present the kinematics of robots in as simple and clear a manner as possible. This involves only using one co-ordinate frame and then using active rather than passive transformations to describe the positions of rigid bodies.
Rigid transformations.
Robot anatomy.
Kinematics.
Inverse kinematics.
Jacobians.
Trajectory following.
Planning.
Statics.
Dynamics.
Solutions to exercises.
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