Foundations of robotics (Q6927554)

Based on the educational and research experience of the authors, this book presents the foundations of robotics with respect to modelling, planning and control of robot manipulators and mobile robots. The book is a natural folow-up of the previous textbook [Robotics. Modelling, planning and control. London: Springer (2009; \url{doi:10.1007/978-1-84628-642-1})] by \textit{B. Siciliano}, \textit{L. Villani} and \textit{G. Oriolo}, together with \textit{L. Sciavicco}. After revising, reorganizing and extending the contents, new topics have been added, such as joint elasticity and cooperative manipulation.\N\NThe book consists of twelve chapters and five appendices. The chapters with the main topics and problems addressed in them are listed here:\N\NChapter 1 -- ``Introduction'' -- presents industrial robotics, mechanical structures, wheeled robotics, other robotic structures, as well as actuation, sensing and control architecture.\N\NChapter 2 -- ``Kinematics'' -- considers the problems of a rigid body pose, everything about rotation matrices and their different parameterizations and orientation representations, configuration space, task space, direct and inverse kinematics of manipulators, manipulators with spherical wrist and anthropomorphic arms.\N\NChapter 3 -- ``Differential kinematics and statics'' -- considers analytic Jacobian, geometric Jacobian, relationship between Jacobians, Jacobians as linear mappings, kinematic singularities, inverse differential kinematics, closed-loop inverse kinematics, orientation error, simulation results and manipulability ellipsoids.\N\NChapter 4 -- ``Trajectory planning'' -- includes classification of robot trajectories, path planning via interpolation, point-to-point path planning, multi-point path planning, choice of timing law, single time profile, trajectories in task space, position paths and orientation paths.\N\NChapter 5 -- ``Dynamics'' -- considers direct and inverse dynamics, Euler-Lagrange formulation, Newton-Euler formulation, dynamic scaling of trajectories, the task-space dynamic model and the constrained dynamic model.\N\NChapter 6 -- ``Motion control'' -- presents the motion control problem, single joint control, regulation in joint space, trajectory tracking in joint space, independent PID tracking, control based on feedback linearization and on inverse dynamics, adaptive control, robust control, control in task space and the case of redundant robots.\N\NChapter 7 -- ``Wheeled mobile robots'' -- presents nonholonomic constraints, the kinematic model, unicycles, bicycles, chained form, the dynamic model, path and trajectory problems, motion control, trajectory tracking, regulation, localization and mobile manipulators.\N\NChapter 8 -- ``Visual control'' -- considers vision and configuration of visual systems, perspective transformation, image processing, like segmentation and interpolation, pose estimation, the visual control problem and visual servoing, stereo vision, hybrid visual servoing and camera calibration.\N\NChapter 9 -- ``Motion planning'' -- considers the canonical problem, obstacles and configuration space, planning via retraction, planning via cell decomposition, probabilistic planning, planning via artificial potentials and the robot manipulator case.\N\NChapter 10 -- ``Force control'' -- presents control of physical robot interaction, impedance control, constrained motion with geometric and analytic approaches, hybrid force/motion control, and it considers the case of redundant robots.\N\NChapter 11 -- ``Manipulators with elastic joints'' -- introduces joint elasticity, a dynamic model, the complete model, the singular perturbation model, inverse dynamics, regulation, trajectory tracking using feedback linearization control and linear control.\N\NChapter 12 -- ``Cooperative manipulation'' -- introduces cooperative manipulators, kinematics, kineto-statics, dynamics, control and multi-fingered hands with the corresponding properties.\N\NFive appendices review the basic theory and the methodologies used in the book, namely: A: Linear algebra, B: Mechanics, C: Differential geometry, D: Control theory, E: Graph search algorithms.\N\NThe book under review is a great textbook and can serve in both undergraduate and graduate robotics courses within engineering programs. The book is intended for students and scientists and should be of interest to practicing and research engineers as well as Ph.D. students in the field of robotics.