Robotics Modelling, Planning and Control
The classic text on robot manipulators now covers visual control, motion planning and mobile robots too! Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent an
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Series Editors Professor Michael J. Grimble, Professor of Industrial Systems and Director Professor Michael A. Johnson, Professor Emeritus of Control Systems and Deputy Director Industrial Control Centre, Department of Electronic and Electrical Engineering, University of Strathclyde, Graham Hills Building, 50 George Street, Glasgow G1 1QE, UK
Other titles published in this series: Genetic Algorithms K.F. Man, K.S. Tang and S. Kwong Introduction to Optimal Estimation E.W. Kamen and J.K. Su Discrete-time Signal Processing D. Williamson Neural Networks for Modelling and Control of Dynamic Systems M. Nørgaard, O. Ravn, N.K. Poulsen and L.K. Hansen Fault Detection and Diagnosis in Industrial Systems L.H. Chiang, E.L. Russell and R.D. Braatz Soft Computing L. Fortuna, G. Rizzotto, M. Lavorgna, G. Nunnari, M.G. Xibilia and R. Caponetto Statistical Signal Processing T. Chonavel Discrete-time Stochastic Processes (2nd Edition) T. Söderström Parallel Computing for Real-time Signal Processing and Control M.O. Tokhi, M.A. Hossain and M.H. Shaheed Multivariable Control Systems P. Albertos and A. Sala
Control Systems with Input and Output Constraints A.H. Glattfelder and W. Schaufelberger Analysis and Control of Non-linear Process Systems K.M. Hangos, J. Bokor and G. Szederkényi Model Predictive Control (2nd Edition) E.F. Camacho and C. Bordons Principles of Adaptive Filters and Selflearning Systems A. Zaknich Digital Self-tuning Controllers V. Bobál, J. Böhm, J. Fessl and J. Macháček Control of Robot Manipulators in Joint Space R. Kelly, V. Santibáñez and A. Loría Receding Horizon Control W.H. Kwon and S. Han Robust Control Design with MATLAB® D.-W. Gu, P.H. Petkov and M.M. Konstantinov Control of Dead-time Processes J.E. Normey-Rico and E.F. Camacho Modeling and Control of Discrete-event Dynamic Systems B. Hrúz and M.C. Zhou
Bruno Siciliano • Lorenzo Sciavicco Luigi Villani • Giuseppe Oriolo
Robotics Modelling, Planning and Control
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Bruno Siciliano, PhD Dipartimento di Informatica e Sistemistica Università di Napoli Federico II Via Claudio 21 80125 Napoli Italy [email protected]
Lorenzo Sciavicco, DrEng Dipartimento di Informatica e Automazione Università di Roma Tre Via della Vasca Navale 79 00146 Roma Italy [email protected]
Luigi Villani, PhD Dipartimento di Informatica e Sistemistica Università di Napoli Federico II Via Claudio 21 80125 Napoli Italy [email protected]
Giuseppe Oriolo, PhD Dipartimento di Informatica e Sistemistica Università di Roma “La Sapienza” Via Ariosto 25 00185 Roma Italy [email protected]
ISSN 1439-2232 ISBN 978-1-84628-641-4 DOI 10.1007/978-1-84628-642-1
e-ISBN 978-1-84628-642-1
British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Control Number: 2008939574 © Springer-Verlag London Limited 2010 MATLAB® is a registered trademark of The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA 017602098, USA. http://www.mathworks.com Apart from any fair dealing for the purposes of research or privat
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