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"The coverage is unparalleled in both depth and breadth. No other text that I have seen offers a better complete overview of modern robotic manipulation and robot control."
-- Bradley Bishop, United States Naval Academy
Based on the highly successful classic, Robot Dynamics and Control, by Spong and Vidyasagar (Wiley, 1989), Robot Modeling and Control offers a thoroughly up-to-date, self-contained introduction to the field. The text presents basic and advanced material in a style that is at once readable and mathematically rigorous.
Key Features
* A step-by-step computational approach helps you derive and compute the forward kinematics, inverse kinematics, and Jacobians for the most common robot designs.
* Detailed coverage of vision and visual servo control enables you to program robots to manipulate objects sensed by cameras.
* An entire chapter on dynamics prepares you to compute the dynamics of the most common manipulator designs.
* The most common motion planning and trajectory generation algorithms are presented in an elementary style.
* The comprehensive treatment of motion and force control includes both basic and advanced methods.
* The text's treatment of geometric nonlinear control is more readable than in more advanced texts.
* Many worked examples and an extensive list of problems illustrate all aspects of the theory.
About the authors
Mark W. Spong is Donald Biggar Willett Professor of Engineering at the University of Illinois at Urbana-Champaign. Dr. Spong is the 2005 President of the IEEE Control Systems Society and past Editor-in-Chief of the IEEE Transactions on Control Systems Technology.
Seth Hutchinson is currently a Professor at the University of Illinois in Urbana-Champaign, and a senior editor of the IEEE Transactions on Robotics and Automation. He has published extensively on the topics of robotics and computer vision.
Mathukumalli Vidyasagar is currently Executive Vice President in charge of Advanced Technology at Tata Consultancy Services (TCS), India's largest IT firm. Dr. Vidyasagar was formerly the director of the Centre for Artificial Intelligence and Robotics (CAIR), under Government of India's Ministry of Defense.
- Sales Rank: #352002 in Books
- Brand: Spong, Mark W./ Hutchinson, Seth/ Vidyasagar, M.
- Published on: 2005-11-18
- Original language: English
- Number of items: 1
- Dimensions: 9.30" h x .90" w x 7.60" l, 1.99 pounds
- Binding: Hardcover
- 496 pages
From the Back Cover
"The coverage is unparalleled in both depth and breadth. No other text that I have seen offers a better complete overview of modern robotic manipulation and robot control." –– Bradley Bishop, United States Naval Academy Based on the highly successful classic, Robot Dynamics and Control, by Spong and Vidyasagar (Wiley, 1989), Robot Modeling and Control offers a thoroughly up-to-date, self-contained introduction to the field. The text presents basic and advanced material in a style that is at once readable and mathematically rigorous. Key Features
- A step-by-step computational approach helps you derive and compute the forward kinematics, inverse kinematics, and Jacobians for the most common robot designs. Detailed coverage of vision and visual servo control enables you to program robots to manipulate objects sensed by cameras. An entire chapter on dynamics prepares you to compute the dynamics of the most common manipulator designs. The most common motion planning and trajectory generation algorithms are presented in an elementary style. The comprehensive treatment of motion and force control includes both basic and advanced methods. The text’s treatment of geometric nonlinear control is more readable than in more advanced texts. Many worked examples and an extensive list of problems illustrate all aspects of the theory.
About the Author
Mark W. Spong is Donald Biggar Willett Professor of Engineering at the University of Illinois at Urbana-Champaign. Dr. Spong is the 2005 President of the IEEE Control Systems Society and past Editor-in-Chief of the IEEE Transactions on Control Systems Technology. Seth Hutchinson is currently a Professor at the University of Illinois in Urbana-Champaign, and a senior editor of the IEEE Transactions on Robotics and Automation. He has published extensively on the topics of robotics and computer vision. Mathukumalli Vidyasagar is currently Executive Vice President in charge of Advanced Technology at Tata Consultancy Services (TCS), India's largest IT firm. Dr. Vidyasagar was formerly the director of the Centre for Artificial Intelligence and Robotics (CAIR), under Government of India’s Ministry of Defense.
Most helpful customer reviews
1 of 1 people found the following review helpful.
Excellent on kinetics, but no control or vision.
By Turtleman
The book has excellent chapters on kinematics and kinetics.
The explanation is clear and a lot of examples are shown.
However, other chapters on control or vision has almost no content.
Those later chapters are NOT for teaching, but just brief overview of technology.
If you are trying to learn robot kinematics, this is an excellent book.
However, don't expect to learn beyond that. (You can't learn control or vision from this book)
0 of 0 people found the following review helpful.
Five Stars
By epicent
A great book in robotics. Explain the kinematics, dynamics and control (KDC) in an intuitive and thorough way. These authors are all top experts in this field, specializing in robotics and controls. Spong and Hutchinson were EIC's in top control and robotics journals, while Vidyasagar won the 2000 Bode Lecture Prize. If you want to lay solid foundation in KDC, this is the book to begin with.
PS: I am a postdoc at CMU Robotics Institute.
4 of 5 people found the following review helpful.
Really can't recommend
By Michael Wolf
I cannot recommend this book! I've found the book primarily useful as a roadmap of concepts to learn for robot modelling, but otherwise terrible as an educational resource. Getting through the book required frequent consultation of other materials. For many of the concepts in the book, reading the relevant wikipedia page provided a much clearer explanation of the subject.
The problem with the book is that it is highly math intensive, and there's little or no attempt to relate the mathematics to specific examples. The book is filled with rapid fire derivations of equations with often minimal explanation. Should you fail to follow any particular step, you're left with little recourse but to consult other (clearer) descriptions of the theory at hand. The book is also lacking in problems for the student to work to assist with understanding the material.
My background is a dual degree in mathematics and computer science from the University of California at the end of the 80's. I've spent the subsequent years working as an engineer. I'm sure that readers who are very current on differential equations and linear algebra will find the equations in the text easier to follow. But I'm also sure that such students would still find that the explanations are thin and relating the material back to the real world is lacking.
Any professor choosing to use this text as the basis for a course is likely to find that they need to create so much supplementary material as to render the book of questionable value.
All in all, I feel that publishing this book damages Wiley's reputation.
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