Modelling and Control of Robot Manipulators

Introduction Kinematics Differential Kinematics and Statics Dynamics Trajectory Planning Motion Control Interaction Control Actuators and Sensors Control Architecture Appendices A. Linear Algebra B. Rigid Body Mechanics C. Feedback Control

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.

"'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"