Modelling and Control of Robot Manipulators

  • Lorenzo Sciavicco
  • Bruno Siciliano

Table of contents

  1. Front Matter
    Pages i-xxiii
  2. Lorenzo Sciavicco, Bruno Siciliano
    Pages 1-19
  3. Lorenzo Sciavicco, Bruno Siciliano
    Pages 21-77
  4. Lorenzo Sciavicco, Bruno Siciliano
    Pages 79-129
  5. Lorenzo Sciavicco, Bruno Siciliano
    Pages 131-183
  6. Lorenzo Sciavicco, Bruno Siciliano
    Pages 185-212
  7. Lorenzo Sciavicco, Bruno Siciliano
    Pages 213-269
  8. Lorenzo Sciavicco, Bruno Siciliano
    Pages 271-294
  9. Lorenzo Sciavicco, Bruno Siciliano
    Pages 295-320
  10. Lorenzo Sciavicco, Bruno Siciliano
    Pages 321-334
  11. Back Matter
    Pages 335-378

About this book


Fundamental and technological topics are blended uniquely and developed clearly in nine chapters - with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step.

Fundamental coverage includes kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space.

Technological aspects include actuators, sensors, hardware- and software-control architectures and 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 and motion control are provided.

To provide readers with a homogeneous background, three appendices are included on linear algebra, rigid-body mechanics, and feedback control.

To impart 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 volume as a textbook for courses.


"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"


actuator algorithms complexity control algorithm industrial robot kinematics programming robot robotics

Authors and affiliations

  • Lorenzo Sciavicco
    • 1
  • Bruno Siciliano
    • 2
  1. 1.Dipartimento di Informatica e AutomazioneUniversità degli Studi di Roma TreRomeItaly
  2. 2.Dipartimento di Informatica e SistemisticaUniversità degli Studi di Napoli Federico IINaplesItaly

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag London Limited 2000
  • Publisher Name Springer, London
  • eBook Packages Springer Book Archive
  • Print ISBN 978-1-85233-221-1
  • Online ISBN 978-1-4471-0449-0
  • Series Print ISSN 1439-2232
  • Series Online ISSN 2510-3814
  • Buy this book on publisher's site