Modeling, Identification and Control of Robots

Modeling, Identification and Control of Robots

by W. Khalil, E. Dombre
     
 

ISBN-10: 190399666X

ISBN-13: 9781903996669

Pub. Date: 07/06/2004

Publisher: Elsevier Science

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

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Overview

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

Product Details

ISBN-13:
9781903996669
Publisher:
Elsevier Science
Publication date:
07/06/2004
Pages:
500
Product dimensions:
1.01(w) x 6.14(h) x 9.21(d)

Table of Contents

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.

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