Modeling, Identification and Control of Robots - Bookswagon
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Modeling, Identification and Control of Robots

Modeling, Identification and Control of Robots


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About the Book

The control and simulation of robots require the development of various mathematical models. Several levels of modelling - geometric, kinematic and dynamic - are needed according to the objectives, the constraints of the task and the desired performance. Obtaining these different models is not an easy task. The difficulty is varied according to the complexity of the kinematics of the mechanical structure and its degrees of freedom. The mathematical tools presented in this book are based on a description of mechanisms allowing a unified approach whatever the type of structure: serial, tree structured or containing closed loops. Using these models in control or simulation requires estimating the values of geometric and dynamic parameters. Various methods to identify them are presented. The problem of trajectory generation is also addressed in detail. Finally, several motion control and force control schemes are discussed, keeping in mind the constraint of online implementation which requires efficient models with a reduced number of operations.

Table of Contents:
1. Terminology and general definitions; 2. Transformation matrix between vectors, frames and screws; 3. Direct geometric model of serial robots; 4. Inverse geometric model of serial robots; 5. Direct kinematic model of serial robots; 6. Inverse kinematic model of serial robots; 7. Geometric and kinematic models of complex chain robots; 8. Introduction to geometric and kinematic modeling of parallel robots; 9. Dynamic modeling of serial robots; 10. Dynamics of robots with complex structure; 11. Geometric calibration of robots; 12. Identification of the dynamic parameters; 13. Trajectory generation; 14. Motion control; 15. Compliant motion control. Appendices: Solutions of equations of the inverse geometric model; 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 Staubli 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 Bibliography; Index

About the Author :
W. Khalil is Professor at the Ecole Centrale at Nantes, France and Head of Department "Systemes mecaniques et productiques" at IRCCyN (Institut de Recherche en Communication et Cybernetique de Nantes, UMR CNRS n[degrees] 6597). 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 Microelectronique de Montpellier, UMR CNRS-Universite Montpellier II n[degrees] 5506


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Product Details
  • ISBN-13: 9781903996133
  • Publisher: Elsevier Science & Technology
  • Publisher Imprint: Hermes Penton
  • Height: 234 mm
  • Returnable: N
  • Width: 153 mm
  • ISBN-10: 1903996139
  • Publisher Date: 14 Feb 2002
  • Binding: Hardback
  • Language: English
  • Weight: 881 gr


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Modeling, Identification and Control of Robots
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