For senior-yearundergraduate and first-year graduate courses in robotics. An intuitiveintroduction to robotic theory and application Since its originalpublication in 1986, Craigs Introduction to Robotics: Mechanics andControl has been the leading textbook for teaching robotics at theuniversity level. Blending traditional mechanical engineering material withcomputer science and control theoretical concepts, the text covers a range oftopics, including rigid-body transformations, forward and inverse positionalkinematics, velocities and Jacobians of linkages, dynamics, linear andnon-linear control, force control methodologies, mechanical design aspects, androbotic programming. The 4th Edition featuresa balance of application and theory, introducing the science and engineering ofmechanical manipulationestablishing and building on foundational understandingof mechanics, control theory, and computer science. With an emphasis on the computationalaspects of problems, the text aims to present material in a simple, intuitive manner.