Modelling and Control of Robot Manipulators

Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step.
Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms.
Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided.
To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control.
To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.

Solutions Manual to be supplied free of charge to academics adopting this text for courses

1. Introduction.- 1.1 Robotics.- 1.2 Industrial Robot.- 1.3 Manipulator Structures.- 1.4 Modelling and Control of Robot Manipulators.- 1.5 Bibliographical Reference Texts.- 2. Kinematics.- 2.1 Position and Orientation of a Rigid Body.- 2.2 Rotation Matrix.- 2.3 Composition of Rotation Matrices.- 2.4 Euler Angles.- 2.5 Angle and Axis.- 2.6 Unit Quaternion.- 2.7 Homogeneous Transformations.- 2.8 Direct Kinematics.- 2.9 Kinematics of Typical Manipulator Structures.- 2.10 Joint Space and Operational Space.- 2.11 Kinematic Calibration.- 2.12 Inverse Kinematics Problem.- 3. Differential Kinematics and Statics.- 3.1 Geometric Jacobian.- 3.2 Jacobian of Typical Manipulator Structures.- 3.3 Kinematic Singularities.- 3.4 Analysis of Redundancy.- 3.5 Differential Kinematics Inversion.- 3.6 Analytical Jacobian.- 3.7 Inverse Kinematics Algorithms.- 3.8 Statics.- 3.9 Manipulability Ellipsoids.- 4. Dynamics.- 4.1 Lagrange Formulation.- 4.2 Notable Properties of Dynamic Model.- 4.3 Dynamic Model of Simple Manipulator Structures.- 4.4 Dynamic Parameter Identification.- 4.5 Newton-Euler Formulation.- 4.6 Direct Dynamics and Inverse Dynamics.- 4.7 Operational Space Dynamic Model.- 4.8 Dynamic Manipulability Ellipsoid.- 5. Trajectory Planning.- 5.1 Path and Trajectory.- 5.2 Joint Space Trajectories.- 5.3 Operational Space Trajectories.- 5.4 Dynamic Scaling of Trajectories.- 6. Motion Control.- 6.1 The Control Problem.- 6.2 Joint Space Control.- 6.3 Independent Joint Control.- 6.4 Computed Torque Feedforward Control.- 6.5 Centralized Control.- 6.6 Operational Space Control.- 6.7 A Comparison Between Various Control Schemes.- 7. Interaction Control.- 7.1 Manipulator Interaction with Environment.- 7.2 Compliance Control.- 7.3 Impedance Control.- 7.4 Force Control.- 7.5 Natural Constraints andArtificial Constraints.- 7.6 Hybrid Force/Position Control.- 8. Actuators and Sensors.- 8.1 Joint Actuating System.- 8.2 Servomotors.- 8.3 Sensors.- 9. Control Architecture.- 9.1 Functional Architecture.- 9.2 Programming Environment.- 9.3 Hardware Architecture.- Appendix A. Linear Algebra.- A.1 Definitions.- A.2 Matrix Operations.- A.3 Vector Operations.- A.4 Linear Transformations.- A.5 Eigenvalues and Eigenvectors.- A.6 Bilinear Forms and Quadratic Forms.- A.7 Pseudo-inverse.- A.8 Singular Value Decomposition.- Appendix B. Rigid Body Mechanics.- B.1 Kinematics.- B.2 Dynamics.- B.3 Work and Energy.- B.4 Constrained Systems.- Appendix C. Feedback Control.- C.1 Control of Single-input/Single-output Linear Systems.- C.2 Control of Nonlinear Mechanical Systems.- C.3 Lyapunov Direct Method.