Modeling and Control of Robot Manipulators

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 February 2000



(2000), "Modeling and Control of Robot Manipulators", Industrial Robot, Vol. 27 No. 1.



Emerald Group Publishing Limited

Copyright © 2000, MCB UP Limited

Modeling and Control of Robot Manipulators

Modeling and Control of Robot Manipulators

L. Sciavicco and B. SicilianoMcGraw-Hill1996416 pp.ISBN 0-07-114726-8£26.99 (Paperback)

Keywords: Modelling, Manipulators, Robots, Control

This informative book aims to present the foundations of modelling and control of robot manipulators in a coherent manner. The book comprises nine chapters and three appendices and is accompanied by a solutions manual that comes with a problem-solving toolbox created using MATLAB® and'SIMULINK®.

Chapter 1 is an introductory chapter, while chapters 2 and 3 cover kinematics, and differential kinematics and statics, respectively. Chapter 4 discusses dynamics. Topics covered include Lagrange formulation, dynamic parameter identification, Newton-Euler formulation and the operational space dynamic model.

Trajectory planning is addressed in the fifth chapter, while the sixth and seventh chapters cover motion control and interaction control, respectively.

Chapter 8 discusses actuators and sensors and includes joint actuating systems, servomotors, sensor classification, position and velocity transducers, and force sensors. The final chapter, "Control architecture", addresses functional architecture, the programming environment and hardware architectures.

The three appendices give further information about linear algebra, rigid body mechanics and feedback control.