Franklin

Robotics : modelling, planning and control / Bruno Siciliano [and three others].

Publication:
London : Springer, [2009]
Format/Description:
Book
xxiv, 632 pages : illustrations ; 24 cm.
Series:
Advanced textbooks in control and signal processing.
Advanced textbooks in control and signal processing, 1439-2232
Status/Location:
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Details

Subjects:
Robots -- Control systems.
Robots -- Motion.
Manipulators (Mechanism).
Summary:
"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." "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 containing the MATLAB code for computer problems; this is 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."--Jacket.
Contents:
Introduction
Kinematics
Differential kinematics and statics
Trajectory planning
Actuators and sensors
Control architecture
Dynamics
Motion control
Force control
Visual servoing
Mobile robots
Motion planning
Appendix A : Linear algebra
Appendix B : Rigid-body mechanics
Appendix C : Feedback control
Appendix D : Differential geometry
Appendix E : Graph search algorithms.
Notes:
Includes bibliographical references (pages 609-622) and index.
Contributor:
Siciliano, Bruno, 1959-
ISBN:
9781846286414
1846286417
9781846286421
OCLC:
144222188
Publisher Number:
9781846286414