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Robotics : modelling, planning and control / Bruno Siciliano [and three others].
Van Pelt Library TJ211.35 .R66 2009
By Request
- Format:
- Book
- Series:
- Advanced textbooks in control and signal processing
- Advanced textbooks in control and signal processing, 1439-2232
- Language:
- English
- Subjects (All):
- Robots--Control systems.
- Robots.
- Robots--Motion.
- Manipulators (Mechanism).
- Physical Description:
- xxiv, 632 pages : illustrations ; 24 cm.
- Place of Publication:
- London : Springer, [2009]
- 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.
- ISBN:
- 9781846286414
- 1846286417
- OCLC:
- 144222188
- Publisher Number:
- 9781846286414
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