Modeling, Identification and Control of Robots
By- W. Khalil, Professor at the Ecole Centrale, Nantes, France
- E. Dombre, Head of the Robotics department at University of Montpelier, France
Written by two of Europes 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.
Audience
Recommended as both a student text and a reference work for professional workers in robotics
Paperback, 500 Pages
Published: July 2004
Imprint: Butterworth Heinemann
ISBN: 978-1-903996-66-9
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.
