Advanced Textbooks in Control and Signal Processing
Series Editors
Professor Michael J. Grimble, Professor of Industrial Systems and Director
Professor Michael A. Johnson, Professor Emeritus of Control Systems and Deputy Director
Industrial Control Centre, Department of Electronic and Electrical Engineering,
University of Strathclyde, Graham Hills Building, 50 George Street, Glasgow G1 1QE, UK
Other titles published in this series:
Genetic Algorithms
K.F. Man, K.S. Tang and S. Kwong
Introduction to Optimal Estimation
E.W. Kamen and J.K. Su
Discrete-time Signal Processing
D. Williamson
Neural Networks for Modelling and
Control of Dynamic Systems
M. Nørgaard, O. Ravn, N.K. Poulsen
and L.K. Hansen
Fault Detection and Diagnosis in
Industrial Systems
L.H. Chiang, E.L. Russell and R.D. Braatz
Soft Computing
L. Fortuna, G. Rizzotto, M. Lavorgna,
G. Nunnari, M.G. Xibilia and R. Caponetto
Statistical Signal Processing
T. Chonavel
Discrete-time Stochastic Processes
(2nd Edition)
T. Söderström
Parallel Computing for Real-time Signal
Processing and Control
M.O. Tokhi, M.A. Hossain and
M.H. Shaheed
Multivariable Control Systems
P. Albertos and A. Sala
Control Systems with Input and Output
Constraints
A.H. Glattfelder and W. Schaufelberger
Analysis and Control of Non-linear
Process Systems
K.M. Hangos, J. Bokor and
G. Szederkényi
Model Predictive Control
(2nd Edition)
E.F. Camacho and C. Bordons
Principles of Adaptive Filters and Self-
learning Systems
A. Zaknich
Digital Self-tuning Controllers
V. Bobál, J. Böhm, J. Fessl and
J. Macháček
Control of Robot Manipulators in
Joint Space
R. Kelly, V. Santibáñez and A. Loría
Receding Horizon Control
W.H. Kwon and S. Han
Robust Control Design with MATLAB
®
D.-W. Gu, P.H. Petkov and
M.M. Konstantinov
Control of Dead-time Processes
J.E. Normey-Rico and E.F. Camacho
Modeling and Control of Discrete-event
Dynamic Systems
B. Hrúz and M.C. Zhou
Bruno Siciliano • Lorenzo Sciavicco
Luigi Villani • Giuseppe Oriolo
Robotics
Modelling, Planning and Control
123
Bruno Siciliano, PhD
Dipartimento di Informatica e Sistemistica
Università di Napoli Federico II
Via Claudio 21
80125 Napoli
Italy
Luigi Villani, PhD
Dipartimento di Informatica e Sistemistica
Università di Napoli Federico II
Via Claudio 21
80125 Napoli
Italy
Lorenzo Sciavicco, DrEng
Dipartimento di Informatica e Automazione
Università di Roma Tre
Via della Vasca Navale 79
00146 Roma
Italy
Giuseppe Oriolo, PhD
Dipartimento di Informatica e Sistemistica
Università di Roma “La Sapienza”
Via Ariosto 25
00185 Roma
Italy
ISBN 978-1-84628-641-4
DOI 10.1007/978-1-84628-642-1
e-ISBN 978-1-84628-642-1
Advanced Textbooks in Control and Signal Processing series ISSN 1439-2232
A catalogue record for this book is available from the British Library
Library of Congress Control Number: 2008939574
© 2009 Springer-Verlag London Limited
MATLAB
®
is a registered trademark of The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA 01760-
2098, USA. http://www.mathworks.com
Apart from any fair dealing for the purposes of research or private study, or criticism or review, as
permitted under the Copyright, Designs and Patents Act 1988, this publication may only be
reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of
the publishers, or in the case of reprographic reproduction in accordance with the terms of licences
issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms
should be sent to the publishers.
The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of
a specific statement, that such names are exempt from the relevant laws and regulations and therefore
free for general use.
The publisher makes no representation, express or implied, with regard to the accuracy of the
information contained in this book and cannot accept any legal responsibility or liability for any errors
or omissions that may be made.
Cover design:
eStudio Calamar S.L., Girona, Spain
Printed on acid-free paper
9 8 7 6 5 4 3 2 1
springer.com
京公网安备 11010802033920号
Copyright © 2005-2024 EEWORLD.com.cn, Inc. All rights reserved
评论