Robot Modeling and Control, Second Edition [Bookshelf]

The first edition of this book inspired many researchers and educators working at the intersections of robotics, control theory, and computer vision from the early days of its publication. This second edition, published 14 years after its predecessor, maintains the central perspective that robots are machines that transform sensing into action through feedback control, with the goal of manipulation of objects or locomoting in their ambient environment. Given its central focus on feedback control, along with its comprehensive treatment of linear, nonlinear, and geometric control algorithms for robotic manipulators and mobile robots, this book holds a special place among other robotics textbooks [1]–[5]. In addition to updating the material on motion planning, vision, and vision-based control to reflect state-ofthe- art changes in the field, the current edition contains two new chapters dedicated to the emerging topic of underactuated robotic mechanisms, including a significant extension of the coverage of mobile robots. This edition also contains two new appendices dedicated to the topics of optimization and camera calibration.