The Manfrotto 190 and 055 series are both excellent, and won't completely break the bank (unless you opt for the fancier carbon fibre models). I personally have a set of Giottos legs which sit somewhere inbetween the two Manfrotto models and which I cannot remember the name of.
With those you will want a head unit of some sort too, often sold together though not always. I have a few Manfrotto units on various tripods (a full tripod with a 486, a Gorillapod with the 484 and a 234 on my monopod) which share quick release plates and all seem to be decent units. Check out the ballhead units for something quick and easy to set up, the three way pan/tilt heads for something slower but more accurate.
All those sets of legs offer a tiltable centre section - with the tripod standing on the floor, you can extend the centre column and have it set at an angle over the table to give you more control and leeway in the framing you use compared to something set at the table edge.