Modeling identification & control of robots /
Khalil, W.
Modeling identification & control of robots / Modeling identification and control of robots Robots by W. Khalil and E. Dombre. - xix, 480 pages : illustrations ; 24 cm
Includes bibliographical references (pages 447-473) and index.
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 modeling of parallel robots -- Dynamic modeling of serial robots -- Dynamics of robots with complex structure -- Geometric calibration of robots -- Identification of the dynamic parameters -- Trajectory generation -- Motion control -- Compliant motion control -- Solution of the inverse geometric model equations (Table 4.1) -- The 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. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. App. 1. App. 2. App. 3. App. 4. App. 5. App. 6. App. 7. App. 8. App. 9. App. 10. App. 11.
1560329831 9781560329831
2002019610
Robots--Mathematical models
Robots--Control systems
TJ211 / .K48 2002
629.892015118
Modeling identification & control of robots / Modeling identification and control of robots Robots by W. Khalil and E. Dombre. - xix, 480 pages : illustrations ; 24 cm
Includes bibliographical references (pages 447-473) and index.
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 modeling of parallel robots -- Dynamic modeling of serial robots -- Dynamics of robots with complex structure -- Geometric calibration of robots -- Identification of the dynamic parameters -- Trajectory generation -- Motion control -- Compliant motion control -- Solution of the inverse geometric model equations (Table 4.1) -- The 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. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. App. 1. App. 2. App. 3. App. 4. App. 5. App. 6. App. 7. App. 8. App. 9. App. 10. App. 11.
1560329831 9781560329831
2002019610
Robots--Mathematical models
Robots--Control systems
TJ211 / .K48 2002
629.892015118