This complete textbook addresses robot control in depth, treating a
range of model-based controllers in detail: proportional derivative;
proportional integral derivative; computed torque and some adaptive
variants. Other areas of study important to robotics, such as
kinematics, receive attention within the case studies, based around a
2-degrees-of-freedom planar articulated arm used throughout to test the
controllers under examination by experimentation. Auxiliary resources
are available in the form of pdf projector presentations and a pdf
solutions manual.