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; 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.

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

Autorentext

Bruno Siciliano is Professor of Control and Robotics at the University of Naples Federico II in Italy, President of the IEEE Robotics and Automation Society, and a Fellow of both IEEE and ASME. He is Co-Editor of the Springer Tracts in Advanced Robotics series, and the Springer Handbook of Robotics. His research interests include identification and adaptive control, impedance and force control, visual tracking and servoing, redundant and cooperative manipulators, lightweight flexible arms, space robots, human-centered and service robotics. He has co-authored 6 books, 6 edited volumes, and over 240 technical papers. Lorenzo Sciavicco is Professor of Control and Robotics at the Third University of Rome in Italy. He has been one of the pioneers of robot control research. 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 co-authored 3 books, 1 edited volume, and over 100 technical papers. Luigi Villani is Associate Professor of Control and Robotics at the University of Naples Federico II in Italy. His research interests include identification and adaptive control, impedance and force control, visual tracking and servoing, redundant and cooperative manipulators,and service robotics. He has co-authored 2 books, 1 edited volume, and over 120 technical papers. Giuseppe Oriolo is Associate Professor of Control and Robotics at the University of Rome "La Sapienza" in Italy. He is an Editor of the IEEE Transactions on Robotics. His research interests include nonlinear control and robotics, visual servoing, redundant manipulators, mobile and nonholonomic robots, motion planning, sensor-based navigation and exploration, and service robotics. He has co-authored 2 books and over 120 technical papers.

Zusammenfassung
Introduces the proper tools to find engineering-oriented solutions. This book includes fundamental coverage of kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space. It offers technological aspects that include hardware- and software-control architectures and industrial robot-control algorithms.

Inhalt

1. Introduction.- 1.1 Robotics.- 1.2 Industrial Robot.- 1.3 Manipulator Structures.- 1.4 Modelling and Control of Robot Manipulators.- 1.5 Bibliographical Reference Texts.- 2. Kinematics.- 2.1 Position and Orientation of a Rigid Body.- 2.2 Rotation Matrix.- 2.3 Composition of Rotation Matrices.- 2.4 Euler Angles.- 2.5 Angle and Axis.- 2.6 Unit Quaternion.- 2.7 Homogeneous Transformations.- 2.8 Direct Kinematics.- 2.9 Kinematics of Typical Manipulator Structures.- 2.10 Joint Space and Operational Space.- 2.11 Kinematic Calibration.- 2.12 Inverse Kinematics Problem.- 3. Differential Kinematics and Statics.- 3.1 Geometric Jacobian.- 3.2 Jacobian of Typical Manipulator Structures.- 3.3 Kinematic Singularities.- 3.4 Analysis of Redundancy.- 3.5 Differential Kinematics Inversion.- 3.6 Analytical Jacobian.- 3.7 Inverse Kinematics Algorithms.- 3.8 Statics.- 3.9 Manipulability Ellipsoids.- 4. Dynamics.- 4.1 Lagrange Formulation.- 4.2 Notable Properties of Dynamic Model.- 4.3 Dynamic Model of Simple Manipulator Structures.- 4.4 Dynamic Parameter Identification.- 4.5 Newton-Euler Formulation.- 4.6 Direct Dynamics and Inverse Dynamics.- 4.7 Operational Space Dynamic Model.- 4.8 Dynamic Manipulability Ellipsoid.- 5. Trajectory Planning.- 5.1 Path and Trajectory.- 5.2 Joint Space Trajectories.- 5.3 Operational Space Trajectories.- 5.4 Dynamic Scaling of Trajectories.- 6. Motion Control.- 6.1 The Control Problem.- 6.2 Joint Space Control.- 6.3 Independent Joint Control.- 6.4 Computed Torque Feedforward Control.- 6.5 Centralized Control.- 6.6 Operational Space Control.- 6.7 A Comparison Between Various Control Schemes.- 7. Interaction Control.- 7.1 Manipulator Interaction with Environment.- 7.2 Compliance Control.- 7.3 Impedance Control.- 7.4 Force Control.- 7.5 Natural Constraints andArtificial Constraints.- 7.6 Hybrid Force/Position Control.- 8. Actuators and Sensors.- 8.1 Joint Actuating System.- 8.2 Servomotors.- 8.3 Sensors.- 9. Control Architecture.- 9.1 Functional Architecture.- 9.2 Programming Environment.- 9.3 Hardware Architecture.- Appendix A. Linear Algebra.- A.1 Definitions.- A.2 Matrix Operations.- A.3 Vector Operations.- A.4 Linear Transformations.- A.5 Eigenvalues and Eigenvectors.- A.6 Bilinear Forms and Quadratic Forms.- A.7 Pseudo-inverse.- A.8 Singular Value Decomposition.- Appendix B. Rigid Body Mechanics.- B.1 Kinematics.- B.2 Dynamics.- B.3 Work and Energy.- B.4 Constrained Systems.- Appendix C. Feedback Control.- C.1 Control of Single-input/Single-output Linear Systems.- C.2 Control of Nonlinear Mechanical Systems.- C.3 Lyapunov Direct Method.