Modelling and Control of Robot Manipulators

""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 Sicillianos 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"

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).

1. Introduction.- 1.1 Robotics.- 1.2 Industrial Robot.- 1.3 Manipulator Structures.- 1.4 Modelling and Control of Robot Manipulators.- 1.5 Bibliographical Reference Texts.- 2. Kinematics.- 2.1 Position and Orientation of a Rigid Body.- 2.2 Rotation Matrix.- 2.3 Composition of Rotation Matrices.- 2.4 Euler Angles.- 2.5 Angle and Axis.- 2.6 Unit Quaternion.- 2.7 Homogeneous Transformations.- 2.8 Direct Kinematics.- 2.9 Kinematics of Typical Manipulator Structures.- 2.10 Joint Space and Operational Space.- 2.11 Kinematic Calibration.- 2.12 Inverse Kinematics Problem.- 3. Differential Kinematics and Statics.- 3.1 Geometric Jacobian.- 3.2 Jacobian of Typical Manipulator Structures.- 3.3 Kinematic Singularities.- 3.4 Analysis of Redundancy.- 3.5 Differential Kinematics Inversion.- 3.6 Analytical Jacobian.- 3.7 Inverse Kinematics Algorithms.- 3.8 Statics.- 3.9 Manipulability Ellipsoids.- 4. Dynamics.- 4.1 Lagrange Formulation.- 4.2 Notable Properties of Dynamic Model.- 4.3 Dynamic Model of Simple Manipulator Structures.- 4.4 Dynamic Parameter Identification.- 4.5 Newton-Euler Formulation.- 4.6 Direct Dynamics and Inverse Dynamics.- 4.7 Operational Space Dynamic Model.- 4.8 Dynamic Manipulability Ellipsoid.- 5. Trajectory Planning.- 5.1 Path and Trajectory.- 5.2 Joint Space Trajectories.- 5.3 Operational Space Trajectories.- 5.4 Dynamic Scaling of Trajectories.- 6. Motion Control.- 6.1 The Control Problem.- 6.2 Joint Space Control.- 6.3 Independent Joint Control.- 6.4 Computed Torque Feedforward Control.- 6.5 Centralized Control.- 6.6 Operational Space Control.- 6.7 A Comparison Between Various Control Schemes.- 7. Interaction Control.- 7.1 Manipulator Interaction with Environment.- 7.2 Compliance Control.- 7.3 Impedance Control.- 7.4 Force Control.- 7.5 Natural Constraints andArtificial Constraints.- 7.6 Hybrid Force/Position Control.- 8. Actuators and Sensors.- 8.1 Joint Actuating System.- 8.2 Servomotors.- 8.3 Sensors.- 9. Control Architecture.- 9.1 Functional Architecture.- 9.2 Programming Environment.- 9.3 Hardware Architecture.- Appendix A. Linear Algebra.- A.1 Definitions.- A.2 Matrix Operations.- A.3 Vector Operations.- A.4 Linear Transformations.- A.5 Eigenvalues and Eigenvectors.- A.6 Bilinear Forms and Quadratic Forms.- A.7 Pseudo-inverse.- A.8 Singular Value Decomposition.- Appendix B. Rigid Body Mechanics.- B.1 Kinematics.- B.2 Dynamics.- B.3 Work and Energy.- B.4 Constrained Systems.- Appendix C. Feedback Control.- C.1 Control of Single-input/Single-output Linear Systems.- C.2 Control of Nonlinear Mechanical Systems.- C.3 Lyapunov Direct Method.