Foundations of Robotics: Modeling, Planning, and Control

Gain a comprehensive understanding of modern robotics through a rigorous yet accessible exploration of its three fundamental pillars: modeling, planning, and control. Designed to balance mathematical precision with practical engineering insight, this textbook provides a unified framework for analyzing, designing, and implementing robotic systems across a wide range of applications.

Covering both fixed-base robotic manipulators and mobile robotic platforms, the book presents the essential theoretical foundations and practical methodologies required to understand and develop advanced robotic systems in academic and industrial environments.

Core Topics Covered

Robotics Modeling and Kinematics

Develop a solid understanding of robot representation, coordinate transformations, forward and inverse kinematics, and the mathematical tools required to describe robotic motion accurately.

Statics, Dynamics, and Motion Analysis

Explore the principles governing robotic forces and motion. Learn how dynamic models are derived and utilized to predict system behavior, optimize performance, and design effective control strategies.

Trajectory Planning and Motion Generation

Discover methods for generating smooth, efficient, and collision-free robot trajectories. Study motion planning techniques that enable robots to perform complex tasks in structured and unstructured environments.

Robot Control Systems

Learn the fundamentals of motion control and feedback systems used to achieve precision, stability, and robustness in robotic applications. The book bridges theoretical control concepts with practical implementation techniques.

Advanced Robotics Topics

Building upon the foundational material, the second part of the book explores advanced areas of robotics, including:

• Wheeled Mobile Robots and Autonomous Navigation
• Vision-Based and Visual Servoing Control Systems
• Motion Planning Algorithms
• Force and Impedance Control
• Flexible and Compliant Robotic Systems
• Cooperative Manipulation and Multi-Robot Coordination

These topics provide readers with a deeper understanding of contemporary robotics challenges and the technologies driving modern robotic innovation.

Strong Mathematical and Engineering Foundation

To support students from diverse engineering backgrounds, comprehensive appendices review essential prerequisite topics, including:

• Linear Algebra
• Classical Mechanics
• Differential Geometry
• Control Theory
• Graph Search and Path-Planning Algorithms

These references make the book suitable for both self-study and structured academic coursework.

Practical Learning Through Examples and Simulations

The book emphasizes real-world implementation and problem-solving through:

• More than 50 fully worked examples and case studies
• Simulation-based demonstrations of key robotics concepts
• Detailed engineering applications that connect theory to practice
• Over 190 end-of-chapter exercises designed to reinforce understanding and develop analytical skills

A dedicated Solutions Manual is also available for instructors adopting the textbook for university courses.

Who This Book Is For

This textbook is ideal for:

• Undergraduate and graduate students in robotics, mechatronics, automation, and mechanical engineering
• University instructors and educators teaching robotics-related courses
• Researchers seeking a structured reference on robotic systems
• Professional engineers looking to strengthen their theoretical and practical robotics expertise

Key Benefits

By studying this book, readers will develop a strong foundation in robotic system modeling, motion planning, dynamics, and control while gaining exposure to advanced topics that define the current state of robotics research and development.

Combining rigorous theory, practical implementation, and application-driven examples, Foundations of Robotics serves as an essential resource for anyone seeking a deep and comprehensive understanding of modern robotic systems.