Robot Modeling and Control-[Book review; M. Spong, S. Hutchinson, and M. Vidyasagar]

This book provides an alternative to the popular text Introduction to Robotics by John J. Craig. The new volume is well-written and includes a great deal of content not covered in the Craig text, including aspects of trajectory determination, joint-level tracking, force/impedance control, and visual guidance. It is self-contained in that it teaches many topics such as kinematics, dynamics, linear single-input-single-output (SISO) compensation, and differential geometry that might otherwise have been course prerequisites. It serves as a natural two-course/two-semester text.