Modelling and Control of Robot Manipulators

Abstract

This book is the second edition of a textbook published in 1996 by McGraw Hill and originates from a graduate level course given by the authors at the University of Naples. The topics include kinematics, statics and dynamics of robot manipulators together with trajectory planning and active control. There are only minor additions the first edition, which are mainly the use of quaternion to describe the orientation of the end effector and a short description of a closed chain architecture for a manipulator (parallelogram arm). The book is largely devoted to serial manipulators, with special developments about active control including adaptative control, robust controls and stability analysis. Another strength of this book is the great number of problems proposed at the end of each chapter, together with a list of references related to it. The fundamental features covered by the text are illustrated on simple examples of serial manipulators (two-link planar arm, parallelogram arm) including analytical results and numerical tests.