The most common method of control for industrial robot manipulators relies on the measurement and changes in displacement along: the so-called "joint-space control." Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a variety of controller-based models in detail: proportional derivative; calculated torque and some adaptive variants; proportional integral derivative. ? Using different combinations of the text's four parts: robot dynamics and mathematical preparation, set-point model based control, model-based tracking control, and adaptive control and speed-independent A complete course in robot control based on joint space can be built for senior undergraduate or master's student.