Robotics: Modelling, Planning and Control (Advanced Textbooks in Control and Signal Processing)

The classic text on robot manipulators now covers visual control, motion planning and mobile robots too!Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic knowhow on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineeringoriented solutions are introduced and explained.The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors.To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, endofchapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.