Robotics: Modelling, Planning and Control

by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe Oriolo

Publisher: Springer
ISBN: 1846286417

Check price @ amazon.com , amazon.ca , amazon.co.uk

Book Description

Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more advanced considerations.

The theory of manipulator structures presented in the early part of the book encompasses:

• the fundamentals: kinematics, statics and trajectory planning; and
• the technology of actuators, sensors and control units.

Subsequently, more advanced instruction is given in:

• dynamics and motion control of robot manipulators;
• environmental interaction using exteroceptive sensory data (force and vision);
• mobile robots; and
• motion planning.

The classic text on robot manipulators now covers visual control, motion planning and mobile robots too!

Appendices ensure that students will have access to a consistent level of background in basic areas such as rigid-body mechanics, feedback control, and others. Problems are raised and the proper tools established to find engineering-oriented solutions rather than to focus on abstruse theoretical methodology. To impart practical skill, more than 60 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, nearly 150 end-of-chapter problems are proposed, and the book is accompanied by a pdf solutions manual and MATLAB® code for computer problems; these are available free of charge to those adopting Robotics as a textbook for courses. This text is suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content.

Book Reviews

Robotics is a diverse field bringing together disparate areas from computer science, electrical engineering and mechanical engineering. This book is an integrative but rigorous treatment of all the relevant concepts, with an eye toward modern, practical applications making it an excellent choice for a first year graduate course in robotics. - Vijay Kumar, University of Pennsylvania

This book provides rock-solid foundations for the study of classical mechanics and control of robots, with the authoritative character of a reference where you can surely find the correct expression and the rigorous derivation of the results you need. On top of this, new chapters on motion planning, visual servoing, and mobile robot control provide support to teaching wider and more interdisciplinary aspects of robotics, and open up vistas that will certainly inspire a new generation of scholars to embrace this incredibly rich and fertile research field. - Antonio Bicchi, University of Pisa, Italy

This book offers a well-balanced and intellectually satisfying treatment of robot mechanics, planning, and control – from the choice and sequence of topics, to the level of detail in the analysis, and the clear connections made between the latest technologies and the theoretical foundations of robotics, this book is an essential element in the library of every aspiring young robotics researcher. - Frank Chongwoo Park, Seoul National University

Customer Reviews

This book has everything a new grad student or aspiring roboticist would want. It covers the mechanics, the controls and even some vision for robotic manipulators. Very nice resource.