Modelling and Control of Robot Manipulators (Advanced Textbooks in Control and Signal Processing)

Rating:
Summary: Evaluation of the systematic generation of Jacobians
Review: The book presents a systematic technique to generate Jacobians for arbitrary serial manipulators. Unfortunately, the intuitive approach to Jacobian generation is not discussed, and readers with no alternative reference will have to follow their rather tedious method. Overall, the book is ok, despite small recurring errors.