Modeling and Control of Robot Manipulators [Hardcover]

Lorenzo Sciavicco (Author)

Book Description

Publication Date: November 1995

This text, aimed at senior undergraduate/graduate courses in robotics, provides a guide to the foundations of robotics: modelling, mechanics and control. Fundamental aspects covered include kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space.

Editorial Reviews

Review

""Modelling and Control of Robot Manipulators" serves well as the main textbook for a semester robot manipulator course… This volume has taken robotics, key elements of automation, to the next level. Both novice and expert readers can benefit from this timely addition to robotics literature… [the authors] have earned and deserve our congratulations." Automatica 37 (2001) 1679 – 1687  (Reviewers: Marco de Oliveira and Mo Jamshidi)   "The book has an excellent balance of practical and advanced material (explanations, examples and problems) that take the introductory student to the level that useful research or applications can begin." Wayne Book, Georgia Institute of Technology   "Because of its modern treatment and its excellent breadth, "Modelling and Control of Robot Manipulators" is the required text for our core course in the Robotics Ph.D. Program." Matt Mason, Carnegie Mellon University   "Sciavicco and Sicilliano’s book achieves a good balance between simplicity and rigour. It is a comprehensive and excellent reference on robotic manipulators, with easy-to-follow notation and figures, lots of examples and a complete bibliography. I strongly recommend it!" Tim Salcudean, University of British Columbia   "This is the ultimate reference book in robotics, perfectly balanced between educational scopes and introductory research." Alessandro De Luca, Universita di Roma "La Sapienza" --This text refers to the Paperback edition.

About the Author

Lorenzo Sciavicco is currently Professor of Robotics in the Department of Computer Engineering and Automation of the Third University of Rome. His research interests include automatic control theory and applications, manipulator inverse kinematics techniques, redundant manipulator control, force/motion control of manipulators, and cooperative robot manipulation. He has published more than 80 journal and conference papers, and 1 book. He has been one of the pioneers of robot control research in Italy, and has been awarded numerous research grants for his robotics group. He has served as a referee for industrial and academic research projects on robotics and automation in Italy. Bruno Siciliano is currently Associate Professor of Robotics in the Department of Computer and Systems Engineering and Director of the PRISMA Lab at the University of Naples. His research interests include manipulator inverse kinematics techniques, redundant manipulator control, modeling and control of flexible arms, force/motion control of manipulators, and cooperative robot manipulation. He has published more than 150 journal and conference papers, and 7 books and is the Seires Editor of Springer Tracts in Advanced Robotics. He has delivered more than 60 invited seminars and presentations at international institutions. He has served as an Associate Editor of the IEEE Transactions on Robotics and Automation from 1991 to 1994, and as an Associate Technical Editor of the ASME Journal of Dynamic Systems, Measurement, and Control since 1994. He is also on the Editorial Advisory Boards of Robotica and the Journal of Robotic Systems. Since 1996 he has been an Administrative Committee Member of the IEEE Robotics and Automation Society (re-elected in 1999 and again in 2005) and served as either Vice president for Publications or for Technical Activities between 1999 and 2004, and Chair of the Technical Committee on Manufacturing and Automation Robotic Control of the IEEE Control Systems Society. In February 1999 he has been appointed Vice-President for Publications of the IEEE Robotics and Automation Society. He has been on the program committees of several international robotics conferences, he has been Program Chair of the IEEE International Workshop on Control Problems in Robotics and Automation: Future Directions (1997), Program Vice-Chair of the IEEE International Conference on Robotics and Automation (1998,1999), General Co-Chair of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (1999). --This text refers to the Paperback edition.

Product Details

• Hardcover: 358 pages
• Publisher: Mcgraw-Hill College (November 1995)
• Language: English
• ISBN-10: 0070572178
• ISBN-13: 978-0070572171
• Product Dimensions: 9 x 6 x 1 inches
• Shipping Weight: 1.4 pounds
• Average Customer Review: 2.6 out of 5 stars  See all reviews (5 customer reviews)
• Amazon Best Sellers Rank: #2,940,382 in Books (See Top 100 in Books)

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Customer Reviews

Most Helpful Customer Reviews

5 of 5 people found the following review helpful:

3.0 out of 5 stars Evaluation of the systematic generation of Jacobians, June 22, 2000

By A Customer

This review is from: Modelling and Control of Robot Manipulators (Advanced Textbooks in Control and Signal Processing) (Paperback)

The book presents a systematic technique to generate Jacobians for arbitrary serial manipulators. Unfortunately, the intuitive approach to Jacobian generation is not discussed, and readers with no alternative reference will have to follow their rather tedious method. Overall, the book is ok, despite small recurring errors.

4 of 4 people found the following review helpful:

3.0 out of 5 stars standard reference, but not very readable, January 21, 2006

By 

Evan Drumwright (Los Angeles, CA) - See all my reviews
(REAL NAME)   

This review is from: Modelling and Control of Robot Manipulators (Advanced Textbooks in Control and Signal Processing) (Paperback)

This was the textbook in my manipulator robotics class; we used the J.J. Craig "Introduction to Robotics" book as a secondary reference. While this book covers all of the major topics in detail, the treatment is less than straightforward; contrast this to the Craig book which provides less information (completely omitting differential kinematics, for example), but is far more readable. Many of the derivations that the authors employ are unintuitive. I'll recommend this book, but only until I find a good alternative.

1 of 2 people found the following review helpful:

3.0 out of 5 stars Plain and Boring..., October 28, 2007

By 

nigelb (Toronto, Canada) - See all my reviews

This review is from: Modelling and Control of Robot Manipulators (Advanced Textbooks in Control and Signal Processing) (Paperback)

This book is one of the most boring books that I ever had to read. It was painful and NO it did not inspire me to become the best damn robot designer in the world. Instead I opted for Power Engineering...