By the dawn of the new millennium, robotics has undergone a major transf- mation in scope and dimensions. This expansion has been brought about by the maturity

Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the

A study of the latest research results in the theory of robot control, structured so as to echo the gradual development of robot control over the last fifteen y

Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization

Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever thei