1 Concepts of Manipulation Robot Control -- 1.1. Introduction -- 1.2. Automatic manipulation robots -- 1.3. Classification of automatic robots -- 1.4. Characteristic tasks and applications of robots in industry -- 1.5. Implementation of control of manipulation robots -- References -- 2 Kinematic Control Level -- 2.1. Introduction -- 2.2. Direct and inverse kinematic problem-determination of robot position -- 2.3. Trajectory synthesis for manipulation robots -- Exercises -- References -- 3 Synthesis of Servo Systems for Robot Control -- 3.1. Introduction -- 3.2. Dynamic model of robot -- 3.3. Synthesis of local servo system -- Exercises -- 3.4. Synthesis of local PID controller -- Exercises -- 3.5. Synthesis of local servo system for trajectory tracking -- Exercises -- References -- Appendix 3.A Local Optimal Regulator -- References -- 4 Control of Simultaneous Motions of Robot Joints -- 4.1. Introduction -- 4.2. Coupling between joints -- Exercises -- 4.3. Analysis of linearized model of robot -- 4.4. Synthesis of decentralized control for simultaneous motions of robot joints -- Exercises -- References -- Appendix 4.A Stability Analysis of Nonlinear Model of Robot -- 5 Synthesis of Robot Dynamic Control -- 5.1. Introduction -- 5.2. Synthesis of global control -- 5.3. Computer-aided synthesis of robot control -- Exercise -- 5.4. Computed torque method for robot control synthesis -- Exercises -- 5.5. Cartesian based control of robot -- Exercises -- References -- Appendix 5.A Stability Analysis of Robot with Global Control -- Appendix 5.B Centralized Optimal Regulator -- References -- 6 Variable Parameters and Concept of Adaptive Robot Control -- 6.1. Introduction -- 6.2. Robustness of control to variations of robot parameters -- Exercises -- 6.3. The concept of adaptive robot control -- Exercises -- References -- 7 Control of Constrained Motion of Robot -- 7.1. Introduction -- 7.2. An analysis of assembly process by robots -- Exercises -- 7.3. Robot control in the stage of parts mating -- Exercises -- 7.4. Hybrid position/force control of robots -- Exercises -- 7.5. Stiffness and impendance control of robots -- Exercises -- References -- Appendix Software Package for Synthesis of Robot Control.