Each chapter includes exercises with difficulty ratings (from "trivial" to "unsolved research problem") and programming assignments that build into a complete manipulator software library.
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. Introduction to Robotics - Mechanics and Control
Later editions, such as the 3rd and 4th, include MATLAB exercises designed to work with Peter Corke’s Robotics Toolbox . Criticisms & Drawbacks such as the 3rd and 4th
Covers spatial transformations, forward and inverse kinematics, Jacobians, and dynamics. forward and inverse kinematics