Overview
- Solutions Manual to be supplied free of charge to academics adopting this text for courses
- The ubiquitous employment of robots in industrial and hazardous settings requires a large number of users trained in their application and control
- The first edition established a wide use among academics as a textbook and this substantially updated edition has proved equally popular
- Request lecturer material: sn.pub/lecturer-material
Part of the book series: Advanced Textbooks in Control and Signal Processing (C&SP)
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Table of contents (9 chapters)
Keywords
About this book
Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms.
Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided.
To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control.
To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
Reviews
""Modelling and Control of Robot Manipulators" serves well as the main textbook for a semester robot manipulator course…
This volume has taken robotics, key elements of automation, to the next level. Both novice and expert readers can benefit from this timely addition to robotics literature… [the authors] have earned and deserve our congratulations."
Automatica 37 (2001) 1679 – 1687 (Reviewers: Marco de Oliveira and Mo Jamshidi)
"The book has an excellent balance of practical and advanced material (explanations, examples and problems) that take the introductory student to the level that useful research or applications can begin."
Wayne Book, Georgia Institute of Technology
"Because of its modern treatment and its excellent breadth, "Modelling and Control of Robot Manipulators" is the required text for our core course in the Robotics Ph.D. Program."
Matt Mason, Carnegie Mellon University
"Sciavicco and Sicilliano’s book achieves a good balance between simplicity and rigour. It is a comprehensive and excellent reference on robotic manipulators, with easy-to-follow notation and figures, lots of examples and a complete bibliography. I strongly recommend it!"
Tim Salcudean, University of British Columbia
"This is the ultimate reference book in robotics, perfectly balanced between educational scopes and introductory research."
Alessandro De Luca, Universita di Roma "La Sapienza"
Authors and Affiliations
About the authors
Lorenzo Sciavicco is currently Professor of Robotics in the Department of Computer Engineering and Automation of the Third University of Rome. His research interests include automatic control theory and applications, manipulator inverse kinematics techniques, redundant manipulator control, force/motion control of manipulators, and cooperative robot manipulation. He has published more than 80 journal and conference papers, and 1 book. He has been one of the pioneers of robot control research in Italy, and has been awarded numerous research grants for his robotics group. He has served as a referee for industrial and academic research projects on robotics and automation in Italy.
Bruno Siciliano is currently Associate Professor of Robotics in the Department of Computer and Systems Engineering and Director of the PRISMA Lab at the University of Naples. His research interests include manipulator inverse kinematics techniques, redundant manipulator control, modeling and control of flexible arms, force/motion control of manipulators, and cooperative robot manipulation. He has published more than 150 journal and conference papers, and 7 books and is the Seires Editor of Springer Tracts in Advanced Robotics. He has delivered more than 60 invited seminars and presentations at international institutions. He has served as an Associate Editor of the IEEE Transactions on Robotics and Automation from 1991 to 1994, and as an Associate Technical Editor of the ASME Journal of Dynamic Systems, Measurement, and Control since 1994. He is also on the Editorial Advisory Boards of Robotica and the Journal of Robotic Systems. Since 1996 he has been an Administrative Committee Member of the IEEE Robotics and Automation Society (re-elected in 1999 and again in 2005) and served as either Vice president for Publications or for Technical Activities between 1999 and 2004, and Chair of the Technical Committee on Manufacturing and Automation Robotic Control of the IEEE Control Systems Society. In February 1999 he has been appointed Vice-President for Publications of the IEEE Robotics and Automation Society. He has been on the program committees of several international robotics conferences, he has been Program Chair of the IEEE International Workshop on Control Problems in Robotics and Automation: Future Directions (1997), Program Vice-Chair of the IEEE International Conference on Robotics and Automation (1998,1999), General Co-Chair of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (1999).
Bibliographic Information
Book Title: Modelling and Control of Robot Manipulators
Authors: Lorenzo Sciavicco, Bruno Siciliano
Series Title: Advanced Textbooks in Control and Signal Processing
DOI: https://doi.org/10.1007/978-1-4471-0449-0
Publisher: Springer London
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eBook Packages: Springer Book Archive
Copyright Information: Springer-Verlag London 2000
Softcover ISBN: 978-1-85233-221-1Published: 25 February 2000
eBook ISBN: 978-1-4471-0449-0Published: 06 December 2012
Series ISSN: 1439-2232
Series E-ISSN: 2510-3814
Edition Number: 2
Number of Pages: XXIV, 378
Number of Illustrations: 6 b/w illustrations
Additional Information: Originally published by McGraw Hill, 1996
Topics: Robotics and Automation, Control and Systems Theory, Simulation and Modeling, Engineering Economics, Organization, Logistics, Marketing, Theoretical and Applied Mechanics