This is a wonderful reference for designing, modeling, controlling, and interfacing robotics. Well presented and provides a great foundation relating manipulator tasks, design, and control.
Modern techniques of force and impedance (hybrid) control, sliding mode control, and input shaping for vibration are shown with clear examples.
The Robotics and Automation Handbook addresses the major aspects of designing, fabricating, and enabling robotics systems and their various applications.
The chapters cover the development and implementation of specifications for a robotic system and the issues related to the forces and torques generated on a robotic system.
The author presents kinetic and dynamic analyses to demonstrate how a robotic system is analyzed. The book includes coverage of a variety of controls approaches including classical, multivariable and optimal.
Also covered are the specific difficulties of particular applications and how these are addressed in the development of the robot.