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Welcome
Introduction
Robot Configuration
Basic Kinematics
Forward Kinematics
Inverse Kinematics
Derivative of Transformation
Jacobian
Singularity & Redundancy
Statics
Inverse Velocity Kinematics
Numerical Inverse Kinematics
Dynamics (Lagrange formulation)
Overview of Robot Control
Decentralized Joint Control
Centralized Joint Control
Operational Space Control
Index
