Modeling, Identification and Control of Robots

Erscheinungsjahr 2004
ISBN: 978-1-903996-66-9
Verlag: Elsevier Science & Technology

Buch, Englisch, 500 Seiten, Format (B × H): 156 mm x 234 mm

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

Zielgruppe

Recommended as both a student text and a reference work for professional workers in robotics

Autoren/Hrsg.

Khalil, W.

Dombre, E.

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik

Inhaltsverzeichnis

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 control. Motion control. Compliant motion control. Appendices.

Über Autor(innen)

Khalil, W.
W. Khalil is Professor at the Ecole Centrale at Nantes, France and Head of Department "Systèmes mécaniques et productiques" at IRCCyN (Institut de Recherche en Communication et Cybernétique de Nantes, UMR CNRS n° 6597).

Dombre, E.
E. Dombre is Director of Research at the National Centre for Scientific Research (CNRS) and head of the Robotics Department at LIRMM (Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier, UMR CNRS-Université Montpellier II n° 5506