Modeling, Identification and Control of RobotsBy
- W. Khalil
- E. Dombre
Written by two of Europeâs 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.
Recommended as both a student text and a reference work for professional workers in robotics
Paperback, 500 Pages
Published: July 2004
Imprint: Butterworth Heinemann
ââ¦.provides necessary tools to deal with various problems that can be encountered in the design, control synthesis and exploitation of robotic manipulators. It can also be recommended to students as a texbook.â -European Mathematical Society
- 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.