Modelling and control of robot manipulators. (Q1972234)

A key feature of the first edition was recognized to be the blend of technological and innovative aspects with the foundations of modelling and control of robot manipulators. The goal of this second edition is to present some material that was not covered before, as well as to improve some of the previous material. The book is organized into nine chapters and three appendices, with a gradually increasing level of complexity. The fundamental topics covered include kinematics, statics and dynamics of manipulators, trajectory planning and motion control in free space. Technological aspects include actuators, sensors, hardware/software control architectures, and industrial robot control algorithms. To help the reader, the authors add three appendices on linear algebra, rigid body mechanics, and feedback control. The book contains more than 170 illustrations and more than 50 worked-out examples and case studies, with frequent resorts to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and, to solve these problems, the book is accompanied by a solution manual with a toolbox created in \(\text{MATLAB}^{\circledR}\) with \(\text{SIMULINK}^{\circledR}\).