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Engineering - Robotics | Robotics

Robotics

Modelling, Planning and Control

Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.

2009, XXIV, 632p. 298 illus.. With online files/update.

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  • In-depth coverage of control both of manipulators and mobile robots sets this apart from other robotics textbooks
  • Worked examples and MATLAB®-based simulations developed throughout the text
  • Expands and updates an already-popular text with material that will make it even more attractive for use in all kinds of graduate robotics courses
  • Electronic solutions manual to be supplied free of charge to academics adopting this text for courses

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

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.

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.

Content Level » Graduate

Keywords » actuator - algorithms - automation - control - kinematics - mobile robot - modeling - motion planning - robot - robotics - sensor - simulation

Related subjects » Artificial Intelligence - Mechanical Engineering - Robotics - Theoretical Computer Science

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