Modelling, Planning and Control

  • Bruno Siciliano
  • Lorenzo Sciavicco
  • Luigi Villani
  • Giuseppe Oriolo

Table of contents

  1. Front Matter
    Pages i-xxiv
  2. Pages 1-37
  3. Pages 39-103
  4. Pages 161-189
  5. Pages 191-231
  6. Pages 233-246
  7. Pages 247-302
  8. Pages 303-361
  9. Pages 363-405
  10. Pages 407-467
  11. Pages 469-521
  12. Pages 523-559
  13. Back Matter
    Pages 561-632

About this book


The classic text on robot manipulators now covers visual control, motion planning and mobile robots too!

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.

® code for computer problems; these are available free of charge to those adopting Robotics as a textbook for courses. This text is suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content.


actuator algorithms automation control kinematics mobile robot modeling motion planning robot robotics sensor simulation

Authors and affiliations

  • Bruno Siciliano
    • 1
  • Lorenzo Sciavicco
    • 2
  • Luigi Villani
    • 1
  • Giuseppe Oriolo
    • 3
  1. 1.Dipartimento di Informatica e SistemisticaUniversità di Napoli Federico IINapoliItaly
  2. 2.Dipartimento di Informatica e AutomazioneUniversità di Roma TreRomaItaly
  3. 3.Dipartimento di Informatica e SistemisticaUniversità di Roma “La Sapienza”RomaItaly

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