Acknowledgements

The delivery of these materials following this format has been inspired by the work done by Dr. Tom Howard in the COM2009-3009 Robotics Course at The University of Sheffield. Also, the content presented has been inspired by various sources listed below:

Trajectory Planning¶

P. Corke, Robot academy: Summary of paths and trajectories. Accessed: 2026-03-18, 2025. Online.
A. D. Luca, Trajectory planning. Accessed: 2026-03-18, 2025. Online
I. S. M. Khalil, Trajectory for point to point motion. Accessed: 2026-03-18, 2025. Online
A. D. Luca, Trajectory planning in cartesian space. Accessed: 2026-03-18, 2025. Online
R. H. Taylor, “Planning and execution of straight line manipulator trajectories,” IBM Journal of Research and Development, vol. 23, no. 4, pp. 424–436, 1979. Online (only for enrolled UMA students)
R. Paul, “Manipulator cartesian path control,” IEEE Transactions on systems, man, and cybernetics, vol. 9, no. 11, pp. 702–711, 1979. [Online]. Available: https://eii.cv.uma.es/pluginfile.php/751768/mod_folder/content/0/Manipulator_Cartesian_Path_Control.pdf?forcedownload=1.
J. Luh, “Conventional controller design for industrial robots—a tutorial,” IEEE Transactions on Systems, Man, and Cybernetics, no. 3, pp. 298–316, 1983.
A. Barrientos et al., “Fundamentos de rob´otica,”, 2007.
B. E. Grant Sanderson, Visualizing quaternionsquaternions. Accessed: 2026-03-18. Online
A. Gaschler, 3d rotation converter. Accessed: 2026-03-18. Online
ROS 2 Control Documnetation (Humble). Accesses: 2026-03-18. Online

Robot Control¶

P. Corke, Robot academy: Robot joint control, Accessed: 2026-03-18. Online

Impedance and Force Control¶

A. D. Luca, Robot interaction with the environment, Accessed: 2026-03-18. Online
A. D. Luca, Impedance control, Accessed: 2026-03-18. Online
M. H. Raibert and J. J. Craig, “Hybrid position/force control of manipulators,”, 1981. Online (only for enrolled UMA students)
A. D. Luca, Hybrid force/motion control, Accessed: 2026-03-16. Online

General¶

B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: modelling, planning and control. Springer, 2010.
B. Siciliano, L. Villani, G. Oriolo, A. De Luca, Foundations of Robotics. Springer, 2025.
K. M. Lynch and F. C. Park, Modern robotics. Cambridge University Press, 2017