Dr. Edward J Haug is Carver Distinguished Professor Emeritus of Mechanical Engineering andApplied Mathematics at The University of Iowa, Iowa City, Iowa
This open access book presents a differential geometric formulation for kinematics and dynamics of roboticmanipulators, both nonredundant and redundant, resulting in a rigorous treatment of ordinarydifferential equations (ODE) for manipulator dynamics that are ideally suited for either input oroperational space robot control.
This open access book presents a differential geometric formulation for kinematics and dynamics of roboticmanipulators, both nonredundant and redundant, resulting in a rigorous treatment of ordinarydifferential equations (ODE) for manipulator dynamics that are ideally suited for either input oroperational space robot control.