Modeling and control of robot manipulators

the long version

Fundamental and technological topics are uniquely blended and clearly developed 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 the book's coverage is further enriched by the inclusion of trajectory planning, actuators, sensors, and control architectures - which are topics not commonly found in other texts, despite their significance for today's industrial robotics.