Modeling, Identification and Control of Robots

1st Edition

Authors: W. Khalil E. Dombre
Paperback ISBN: 9781903996669
eBook ISBN: 9780080536613
Imprint: Butterworth-Heinemann
Published Date: 1st July 2004
Page Count: 500
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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.

Key Features

· 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


Recommended as both a student text and a reference work for professional workers in robotics

Table of Contents



Chapter 1: Terminology and general definitions

1.1 Introduction

1.2 Mechanical components of a robot

1.3 Definitions

1.4 Choosing the number of degrees of freedom of a robot

1.5 Architectures of robot manipulators

1.6 Characteristics of a robot

1.7 Conclusion

Chapter 2: Transformation matrix between vectors, frames and screws

2.1 Introduction

2.2 Homogeneous coordinates

2.3 Homogeneous transformations [Paul 81]

2.4 Kinematic screw

2.5 Differential translation and rotation of frames

2.6 Representation of forces (wrench)

2.7 Conclusion

Chapter 3: Direct geometric model of serial robots

3.1 Introduction

3.2 Description of the geometry of serial robots

3.3 Direct geometric model

3.4 Optimization of the computation of the direct geometric model

3.5 Transformation matrix of the end-effector in the world frame

3.6 Specification of the orientation

3.7 Conclusion

Chapter 4: Inverse geometric model of serial robots

4.1 Introduction

4.2 Mathematical statement of the problem

4.3 Inverse geometric model of robots with simple geometry

4.4 Inverse geometric model of decoupled six degree-of-freedom robots

4.5 Inverse geometric model of general robots

4.6 Conclusion

Chapter 5: Direct kinematic model of serial robots

5.1 Introduction

5.2 Computation of the Jacobian matrix from the direct geometric model

5.3 Basic Jacobian matrix

5.4 Decomposition of the Jacobian matrix into three matrices

5.5 Efficient computation of the end-effector velocity

5.6 Dimension of the task space of a robot

5.7 Analysis of the robot workspace

5.8 Velocity transmission between joint space and task space

5.9 Static model

5.10 Second order kin


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About the Author

W. Khalil

W. Khalil is Professor at the Ecole Centrale at Nantes, France and Head of Department "Systèmes mécaniques et productiques" at IRCCyN (Institut de Recherche en Communication et Cybernétique de Nantes, UMR CNRS n° 6597).

Affiliations and Expertise

Professor at the Ecole Centrale, Nantes, France

E. Dombre

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 Microélectronique de Montpellier, UMR CNRS-Université Montpellier II n° 5506

Affiliations and Expertise

Head of the Robotics department at University of Montpelier, France


‘….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.’ —European Mathematical Society