Thursday, February 28, 2019

Robotics (Modelling, Planning and Control)

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In the last 25 years, the field of robotics has stimulated an increasing interest in a wide number of scholars, and thus literature has been conspicuous, both in terms of textbooks and monographs, and in terms of specialized journals dedicated to robotics. This strong interest is also to be attributed to the interdisciplinary character of robotics, which is a science having roots in different areas. Cybernetics, mechanics, controls, computers, bioengineering, electronics — to mention the most important ones — are all cultural domains which undoubtedly have boosted the development of this science.

Despite robotics representing as yet a relatively young discipline, its foundations are to be considered well-assessed in the classical textbook literature. Among these, modelling, planning and control play a basic role, not only in the traditional context of industrial robotics, but also for the advanced scenarios of field and service robots, which have attracted an increasing interest from the research community in the last 15 years.

This book is the natural evolution of the previous text Modelling and Control of Robot Manipulators by the first two co-authors, published in 1995, and in 2000 with its second edition. The cut of the original textbook has been confirmed with the educational goal of blending the fundamental and technological aspects with those advanced aspects, on a uniform track as regards a rigorous formalism.

1. Introduction
2. Kinematics
3. Differential Kinematics and Statics
4. Trajectory Planning
5. Actuators and Sensors
6. Control Architecture
7. Dynamics
8. Motion Control
9. ForceControl
10. Visual Servoing
11. Mobile Robots
12. Motion Planning
A Linear Algebra
B Rigid-body Mechanics
C Feedback Control
D Differential Geometry
E Graph Search Algorithms

Author Details
"Bruno Siciliano"

"Lorenzo Sciavicco"

"Luigi Villani"

"Giuseppe Oriolo"

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