Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 12

In this text we will be primarily concerned with developing and analyzing mathematical models for robots. In particular, we will develop methods to represent basic geometric aspects of robotic manipulation and locomotion. Equipped with these mathematical models, we will develop methods for planning and controlling robot motions to perform specified tasks. We begin here by describing some of the basic notation and terminology that we will use in later chapters to develop mathematical models for robot manipulators and mobile robots.