Each chapter includes exercises with difficulty ratings (from "trivial" to "unsolved research problem") and programming assignments that build into a complete manipulator software library.
Reviewers from IEEE Xplore highlight the kinematics and dynamics chapters as some of the best-written and easiest to follow in the field. Introduction to Robotics - Mechanics and Control
The book is structured into 13 chapters that blend mechanical engineering, computer science, and control theory. forward and inverse kinematics
Introduction To Robotics: Mechanics and Control by John Craig Introduction to Robotics - Mechanics and Control
Discusses robot programming systems, mechanical design, and off-line simulation. Strengths
Craig aims to present complex computational problems in a simple way, using a "modified" Denavit-Hartenberg notation that many find more intuitive for computation than the original version.
Covers spatial transformations, forward and inverse kinematics, Jacobians, and dynamics.