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Modeling, Performance Analysis and Control of Robot Manipulators
Dombre
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Description for Modeling, Performance Analysis and Control of Robot Manipulators
Hardcover. This book presents the most recent research results on modeling and control of robot manipulators. *Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Editor(s): Dombre, Etienne; Khalil, Wisama. Series: Control Systems, Robotics & Manufacturing. Num Pages: 398 pages, Illustrations. BIC Classification: TJFM1. Category: (P) Professional & Vocational. Dimension: 10 x 10 x 10. Weight in Grams: 747.
This book presents the most recent research results on modeling and control of robot manipulators.
This book presents the most recent research results on modeling and control of robot manipulators.
- Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models.
- Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis.
- Chapter 3 introduces global and local tools for performance analysis of serial robots.
- Chapter 4 presents an original optimization technique for point-to-point ... Read more
- Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control).
- In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
Product Details
Format
Hardback
Publication date
2007
Publisher
ISTE United Kingdom
Number of pages
398
Condition
New
Series
Control Systems, Robotics & Manufacturing
Number of Pages
398
Place of Publication
London, United Kingdom
ISBN
9781905209101
SKU
V9781905209101
Shipping Time
Usually ships in 15 to 20 working days
Ref
99-15
About Dombre
Etienne Dombre is Director of Research at the National Centre for Scientific Research (CNRS) and is a researcher within the Laboratoire de Recherche en ’Informatique, Robotique et Microélectronique de Montpellier at the University of Montpellier, France. Wisama Khalil is Professor at the Ecole Centrale de Nantes, France, and is a researcher at the Institute of Research in Communication ... Read more
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