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เนื้อหาย่อ : for interpolation in joint space. Chapter 6 is an introduction to independent joint control. Linear control based on pD, pid, and state space methods is presented for the tracking and disturbance rejection problem for linear actuator and drive-train dynamics. The concept of feedforward control is introduced for tracking time-varying reference trajectories. Chapter 7 is a detailed account of robot dynamics. The Euler-Lagrange equations are derived from first principles and their structural properties are discussed in detail. The recursive Newton-Euler formulation of robot dynamics is also presented. Chapter 8 discusses multivariable control. This chapter summarizes much of the research in robot control that took place in the late 1980's and early 1990's. Simple derivations of the most common robust and adaptive control algorithms are presented that prepare the reader for the extensive literature in robot control. Chapter 9 treats the force control problem. Both impedance control and hybrid control are discussed. We also present the lesser known hybrid impedance control method which allows one to control impedance and reg- ulate motion and force at the same time. To our knowledge this is the first textbook that discusses the hybrid impedance approach to robot force control. Chapter 10 is an introduction to geometric nonlinear control. This chap- ter is considerably more advanced than the other chapters and can be re- served for graduate level courses in nonlinear control and robotics. However, the material is presented in a readable style that should be accessible for advanced undergraduates. We derive and prove the necessary and suffcient conditions for local feedback linearization of single-input/single-output sys- tems which we then apply to the flexible joint control problem. We also briefly discuss Chow's Theorem for the problem of control of systems sub- ject to nonholonomie constraints. Chapter 11 is an introduetion to computer vision. We present those as- pects of vision that are most useful for robotics applications, such as thresh- holding, image segmentation, and camera calibration. Chapter 12 discusses the visual servo control problem, which is the prob- lem of controlling robots using feedback from cameras mounted either on the robot or in the workspace. This text is suitable for several quarter or semester long courses in roboties, either as a sequence or as stand-alone courses. The first six chap- ters can be used for a junior/senior level introduction to robotics for stu- dents with a minimal background in linear control systems. One of the key