Robot modeling and control

Spong's text opens with the groundwork a reader needs: vocabulary, linear algebra, dynamical systems, and stability theory. From there it moves into the core of robotic arm analysis, covering forward and inverse kinematics, Jacobian matrices, and Lagrangian dynamics. Later chapters take up motion planning, robust and adaptive control of motion and force, and the role of computer vision in robotic systems.

The writing balances accessibility with mathematical precision. Foundational material and more advanced topics sit side by side, so the book works for both learners and experienced researchers who want a reference. Examples drawn from factory automation and from mobile robots show how the theory applies in practice.

Intended for upper-level undergraduates and graduate students in electrical engineering, mechanical engineering, computer science, and mathematics, the book can be taught over one or two academic terms. Numerous worked examples and a large set of exercises reinforce the material and point toward further study.