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Robot Modeling and Control Hardcover – November 18, 2005

ISBN-13: 978-0471649908 ISBN-10: 0471649902 Edition: 1st
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Editorial Reviews

From the Back Cover

"The coverage is unparalleled in both depth and breadth. No other text that I have seen offers a better complete overview of modern robotic manipulation and robot control."
–– Bradley Bishop, United States Naval Academy

Based on the highly successful classic, Robot Dynamics and Control, by Spong and Vidyasagar (Wiley, 1989), Robot Modeling and Control offers a thoroughly up-to-date, self-contained introduction to the field. The text presents basic and advanced material in a style that is at once readable and mathematically rigorous.

Key Features

  • A step-by-step computational approach helps you derive and compute the forward kinematics, inverse kinematics, and Jacobians for the most common robot designs.
  • Detailed coverage of vision and visual servo control enables you to program robots to manipulate objects sensed by cameras.
  • An entire chapter on dynamics prepares you to compute the dynamics of the most common manipulator designs.
  • The most common motion planning and trajectory generation algorithms are presented in an elementary style.
  • The comprehensive treatment of motion and force control includes both basic and advanced methods.
  • The text’s treatment of geometric nonlinear control is more readable than in more advanced texts.
  • Many worked examples and an extensive list of problems illustrate all aspects of the theory.
About the authors

Mark W. Spong is Donald Biggar Willett Professor of Engineering at the University of Illinois at Urbana-Champaign. Dr. Spong is the 2005 President of the IEEE Control Systems Society and past Editor-in-Chief of the IEEE Transactions on Control Systems Technology.

Seth Hutchinson is currently a Professor at the University of Illinois in Urbana-Champaign, and a senior editor of the IEEE Transactions on Robotics and Automation. He has published extensively on the topics of robotics and computer vision.

Mathukumalli Vidyasagar is currently Executive Vice President in charge of Advanced Technology at Tata Consultancy Services (TCS), India's largest IT firm. Dr. Vidyasagar was formerly the director of the Centre for Artificial Intelligence and Robotics (CAIR), under Government of India’s Ministry of Defense.

About the Author

Mark W. Spong is Donald Biggar Willett Professor of Engineering at the University of Illinois at Urbana-Champaign. Dr. Spong is the 2005 President of the IEEE Control Systems Society and past Editor-in-Chief of the IEEE Transactions on Control Systems Technology.

Seth Hutchinson is currently a Professor at the University of Illinois in Urbana-Champaign, and a senior editor of the IEEE Transactions on Robotics and Automation. He has published extensively on the topics of robotics and computer vision.

Mathukumalli Vidyasagar is currently Executive Vice President in charge of Advanced Technology at Tata Consultancy Services (TCS), India's largest IT firm. Dr. Vidyasagar was formerly the director of the Centre for Artificial Intelligence and Robotics (CAIR), under Government of India’s Ministry of Defense.

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Product Details

  • Hardcover: 496 pages
  • Publisher: Wiley; 1 edition (November 18, 2005)
  • Language: English
  • ISBN-10: 0471649902
  • ISBN-13: 978-0471649908
  • Product Dimensions: 7.7 x 0.9 x 9.4 inches
  • Shipping Weight: 2 pounds (View shipping rates and policies)
  • Average Customer Review: 3.8 out of 5 stars  See all reviews (19 customer reviews)
  • Amazon Best Sellers Rank: #274,977 in Books (See Top 100 in Books)

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Customer Reviews

3.8 out of 5 stars

Most Helpful Customer Reviews

7 of 7 people found the following review helpful By Neehar Kapila on June 5, 2011
Format: Hardcover
I am a graduate student at Texas A&M University, specializing in Robotics and Control. I have taken a graduate course in Mechatronics and Control System Design, along with Control of Robot Manipulators. In my course, Control of Robot Manipulators, we were made to simulate the modeling and control of a 3-DOF robot using Matlab/ Simulink. The assignment almost carried 50% weight-age of the total marks in the course. I happened to read this book and it helped me much.
The book covers the linear control of robot manipulators extensively, it has several case studies of industrial robot manipulators. It has a detailed methodology on how to model robots from the point of formulating DH parameters to deriving the dynamic equations for the same and implementing control.
It is a very good book to go back and refer again even while working on projects and at workplace. I strongly recommend this book to a robot enthusiast like me and for beginners in the subjects of Linear control and Robotics.
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5 of 6 people found the following review helpful By Nathaniel J Daniels on May 14, 2014
Format: Hardcover Verified Purchase
I was introduced to this book through the NYU graduate course on Sensor Based Robotics. I have a BS in Engineering from the Naval Academy and am a senior engineer at Northrop Grumman. This is the worst experience I have ever had with an academic text. Unfortunately, most of folks reading this review right now are likely stuck using this text as required by class you are taking. If you are an enthusiast, an employee at a robotics company, or a professor looking for a text to use, proceed with caution.

The endorsement on the back of the text is particularly a red flag. Brad Bishop is a friend of one of the authors of the text, so you could automatically question bias. What is more telling is that by the third edition of this text, the authors weren't able to find an independent credible source for an endorsement. It is also telling that as of 2008 when Standford posted their Intro to Robotics lectures on Youtube, that they chose to use no text over this or any other offering available at the time. Most of the positive endorsements on Amazon are coming from Graduate Level university students who are deep in their comfort zone on mathematical theory. Unless you can quickly scribble down the partial derivative of theta with respect to time of the (k) vector in a 3x3 rotation matrix right now without looking anything up, you are going to struggle with this text from day 1. If nothing else, try to find it in a local library before you buy it.

From a quality standpoint, the text if full of typos and confusion. Multiple diagrams are missing information (i.e. showing a rotation about one axis, but the surrounding text references a second rotation). Their are figures in the text that aren't referenced by any section or problem.
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4 of 4 people found the following review helpful By Joe on January 10, 2011
Format: Hardcover
One of the best books for applying the DH convention to forward and inverse kinematics but the controls sections could use more examples.
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2 of 3 people found the following review helpful By Michael Wolf on September 11, 2014
Format: Hardcover Verified Purchase
I cannot recommend this book! I've found the book primarily useful as a roadmap of concepts to learn for robot modelling, but otherwise terrible as an educational resource. Getting through the book required frequent consultation of other materials. For many of the concepts in the book, reading the relevant wikipedia page provided a much clearer explanation of the subject.

The problem with the book is that it is highly math intensive, and there's little or no attempt to relate the mathematics to specific examples. The book is filled with rapid fire derivations of equations with often minimal explanation. Should you fail to follow any particular step, you're left with little recourse but to consult other (clearer) descriptions of the theory at hand. The book is also lacking in problems for the student to work to assist with understanding the material.

My background is a dual degree in mathematics and computer science from the University of California at the end of the 80's. I've spent the subsequent years working as an engineer. I'm sure that readers who are very current on differential equations and linear algebra will find the equations in the text easier to follow. But I'm also sure that such students would still find that the explanations are thin and relating the material back to the real world is lacking.

Any professor choosing to use this text as the basis for a course is likely to find that they need to create so much supplementary material as to render the book of questionable value.

All in all, I feel that publishing this book damages Wiley's reputation.
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Format: Hardcover Verified Purchase
The book has excellent chapters on kinematics and kinetics.
The explanation is clear and a LOT of examples are shown.

However, other chapters on joint control or computer vision has almost no content.
It is not for teaching, but just broad overview of technology.

If you are trying to learn robot kinetics, this is an excellent book.
However, if you want beyond that (i.e. vision control), this is NOT the book for you.
I changed into Introduction to Robotics: Mechanics and Control (3rd Edition) by Craig.
Craig's book has better overall organization, and chapters on joint control are much better.
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