Robotics: Modelling, Planning and Control

Abstract

Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more advanced considerations. The theory of manipulator structures presented in the early part of the book encompasses: • the fundamentals: kinematics, statics and trajectory planning. and • the technology of actuators, sensors and control units. Subsequently, more advanced instruction is given in: • dynamics and motion control of robot manipulators. • environmental interaction using exteroceptive sensory data (force and vision). • mobile robots. and • motion planning.