Khalil W., Dombre E. Modeling, Identification and Control of Robots

Elsevier, 2004. — 235 p.Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure.
No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.
World class authority
Unique range of coverage not available in any other book
Provides a complete course on robotic control at an undergraduate and graduate level