This volume provides doctorate students and professionals with basic and advanced material on modelling and control of complex mechanical systems, with particular emphasis on robotic manipulators.

This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.

Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.

This book provides detailed fundamental theoretical reviews and preparations necessary for developing advanced dynamics modeling and control strategies for various types of robotic systems. This research book specifically addresses and discusses the uniqueness issue of representing orientation or rotation, and further proposes an innovative isometric embedding approach. The novel approach can not only reduce the dynamic formulation for robotic systems into a compact form, but it also offers a new way to realize the orientational trajectory-tracking control procedures. In addition, the book gives a comprehensive introduction to fundamentals of mathematics and physics that are required for modeling robot dynamics and developing effective control algorithms. Many computer simulations and realistic 3D animations to verify the new theories and algorithms are included in the book as well. It also presents and discusses the principle of duality involved in robot kinematics, statics, and dynamics. The duality principle can guide the dynamics modeling and analysis into a right direction for a variety of robotic systems in different types from open serial-chain to closed parallel-chain mechanisms. It intends to serve as a diversified research reference to a wide range of audience, including undergraduate juniors and seniors, graduate students, researchers, and engineers interested in the areas of robotics, control and applications.

Currently, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia. The book encompasses the kinematic and dynamic modelling, analysis, design, and control of mechatronic and robotic systems, with the scope of improving their performance, as well as simulating and testing novel devices and control architectures. A broad range of disciplines and topics are included, such as robotic manipulation, mobile systems, cable-driven robots, wearable and rehabilitation devices, variable stiffness safety-oriented mechanisms, optimization of robot performance, and energy-saving systems.

A New Edition Featuring Case Studies and Examples of the Fundamentals of Robot Kinematics, Dynamics, and Control In the 2nd Edition of Robot Modeling and Control, students will cover the theoretical fundamentals and the latest technological advances in robot kinematics. With so much advancement in technology, from robotics to motion planning, society can implement more powerful and dynamic algorithms than ever before. This in-depth reference guide educates readers in four distinct parts; the first two serve as a guide to the fundamentals of robotics and motion control, while the last two dive more in-depth into control theory and nonlinear system analysis. With the new edition, readers gain access to new case studies and thoroughly researched information covering topics such as: ● Motion-planning, collision avoidance, trajectory optimization, and control of robots ● Popular topics within the robotics industry and how they apply to various technologies ● An expanded set of examples, simulations, problems, and case studies ● Open-ended suggestions for students to apply the knowledge to real-life situations A four-part reference essential for both undergraduate and graduate students, Robot Modeling and Control serves as a foundation for a solid education in robotics and motion planning.

Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level

Currently, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia. The book encompasses the kinematic and dynamic modelling, analysis, design, and control of mechatronic and robotic systems, with the scope of improving their performance, as well as simulating and testing novel devices and control architectures. A broad range of disciplines and topics are included, such as robotic manipulation, mobile systems, cable-driven robots, wearable and rehabilitation devices, variable stiffness safety-oriented mechanisms, optimization of robot performance, and energy-saving systems.

The classic text on robot manipulators now covers visual control, motion planning and mobile robots too! Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.