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 their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.* World class authority* Unique range of coverage not available in any other book* Provides a complete course on robotic control at an undergraduate and graduate level