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1. 1. Introduction To Robotics

   Mechanics and Control

   

   A clear, concise textbook that presents the fundamentals of robot manipulators, covering rigid-body kinematics with homogeneous transforms and Denavit–Hartenberg parameters, forward and inverse kinematics, differential motion and the Jacobian (including singularity analysis and manipulability), basic dynamic modeling (Newton–Euler and Lagrangian approaches), trajectory planning and control methods, and practical issues of sensing and actuation, illustrated with worked examples and problem sets to build both theoretical understanding and practical skills.

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