Modelling and Control of Robot Manipulators

Citation

Rigelsford, J. (2000), "Modelling and Control of Robot Manipulators", Industrial Robot, Vol. 27 No. 5. https://doi.org/10.1108/ir.2000.04927eae.002

Modelling and Control of Robot Manipulators

L. Sciavicco and B. SicilianoSpringer-Verlag2000384 pp.ISBN 1-85233-221-2£24.50Paperback

Keywords Robots, Manipulators, Modelling

Modelling and Control of Robot Manipulators provides a clearly presented discussion on a range of classical robotics subjects. The subject-matter is divided into nine chapters and three appendices.

Chapter 1 introduces the field of robotics and focuses on industrial applications. Manipulator structures and techniques for modelling and controlling robot manipulators are also covered. The second and third chapters of this book cover kinematics and differential kinematics and statics, respectively; while chapter 4 discusses manipulator dynamics.

Chapter 5, "Trajectory planning", includes sections on joint space trajectories, operational space trajectories and dynamic scaling of trajectories. Motion control and interaction control are discussed in chapters 6 and 7. Chapter 8, "Actuators and sensors", introduces the general features of an actuating system, discusses methods for controlling servomotors and gives details about a number of sensors. These include position and velocity transducers, force sensors and vision sensors.

The final chapter discusses control architecture. Three useful appendices are included, covering linear algebra, rigid body mechanics and feedback control.

Overall, this is a well written text which is suitable for engineers and academics. With more than 50 examples and 80 end of chapter exercises, this book is primarily aimed as an educational text for graduate and undergraduate level students. It is accompanied by a solutions manual which contains the MATLAB1 code for computer problems set in the text.

Jon Rigelsford