Modeling, Identification and Control of Robots

W. Khalil, Etienne Dombre

500 pages, parution le 03/09/2004

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Résumé

Written by two of Europe's leading robotics experts, this unique book provides the tools for a unified approach to the modeling of robotic manipulators, whatever their mechanical structure. It covers the development of various mathematical models required for the control and simulation of robots, and, unlike any other single publication, it covers the three fundamental issues of robotics: modeling, identification and control.

L'auteur - Etienne Dombre

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Sommaire

Terminology and general definitions
Transformation matrix between vectors, frames and screws
Direct geometric model of serial robots
Inverse geometric model of serial robots
Direct kinematic model of serial robots
Inverse kinematic model of serial robots
Geometric and kinematic models of complex chain robots
Introduction to geometric and kinematic modelling of parallel robots
Dynamic modelling of serial robots
Dynamics of robots with complex structure
Geometric calibration of robots
Identification of the dynamic parameters
Trajectory generation
Motion control
Compliant motion control

Solution of the inverse geometric model equations
The inverse robot
Dyalitic elimination
Solution of systems of linear equations
Numerical computation of the base parameters
Recursive equations between the energy functions
Dynamic model of the Stäubli RX-90 robot
Computation of the inertia matrix of tree structured robots
Stability analysis using Lyapunov theory
Computation of the dynamic control law in the task space
Stability of passive systems

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Caractéristiques techniques

	PAPIER
Éditeur(s)	Kogan Page
Auteur(s)	W. Khalil, Etienne Dombre
Parution	03/09/2004
Nb. de pages	500
Format	15 x 23,5
Couverture	Broché
Poids	785g
Intérieur	Noir et Blanc
EAN13	9781903996669
ISBN13	978-1-9039-9666-9