Image from Coce

Modeling identification & control of robots / by W. Khalil and E. Dombre.

By: Contributor(s): Material type: TextTextPublisher: New York, NY : Taylor & Francis, 2002Description: xix, 480 pages : illustrations ; 24 cmContent type:
  • text
Media type:
  • unmediated
Carrier type:
  • volume
ISBN:
  • 1560329831
  • 9781560329831
Other title:
  • Modeling identification and control of robots
  • Robots
Subject(s): DDC classification:
  • 629.892015118 21
LOC classification:
  • TJ211 .K48 2002
Contents:
1. Terminology and general definitions -- 2. Transformation matrix between vectors, frames and screws -- 3. Direct geometric model of serial robots -- 4. Inverse geometric model of serial robots -- 5. Direct kinematic model of serial robots -- 6. Inverse kinematic model of serial robots -- 7. Geometric and kinematic models of complex chain robots -- 8. Introduction to geometric and kinematic modeling of parallel robots -- 9. Dynamic modeling of serial robots -- 10. Dynamics of robots with complex structure -- 11. Geometric calibration of robots -- 12. Identification of the dynamic parameters -- 13. Trajectory generation -- 14. Motion control -- 15. Compliant motion control -- App. 1. Solution of the inverse geometric model equations (Table 4.1) -- App. 2. The inverse robot -- App. 3. Dyalitic elimination -- App. 4. Solution of systems of linear equations -- App. 5. Numerical computation of the base parameters -- App. 6. Recursive equations between the energy functions -- App. 7. Dynamic model of the Staubli RX-90 robot -- App. 8. Computation of the inertia matrix of tree structured robots -- App. 9. Stability analysis using Lyapunov theory -- App. 10. Computation of the dynamic control law in the task space -- App. 11. Stability of passive systems.
Tags from this library: No tags from this library for this title. Log in to add tags.
Holdings
Item type Current library Call number Copy number Status Date due Barcode
Book City Campus City Campus Main Collection 629.892015118 KHA (Browse shelf(Opens below)) 1 Available A415611B

Includes bibliographical references (pages 447-473) and index.

1. Terminology and general definitions -- 2. Transformation matrix between vectors, frames and screws -- 3. Direct geometric model of serial robots -- 4. Inverse geometric model of serial robots -- 5. Direct kinematic model of serial robots -- 6. Inverse kinematic model of serial robots -- 7. Geometric and kinematic models of complex chain robots -- 8. Introduction to geometric and kinematic modeling of parallel robots -- 9. Dynamic modeling of serial robots -- 10. Dynamics of robots with complex structure -- 11. Geometric calibration of robots -- 12. Identification of the dynamic parameters -- 13. Trajectory generation -- 14. Motion control -- 15. Compliant motion control -- App. 1. Solution of the inverse geometric model equations (Table 4.1) -- App. 2. The inverse robot -- App. 3. Dyalitic elimination -- App. 4. Solution of systems of linear equations -- App. 5. Numerical computation of the base parameters -- App. 6. Recursive equations between the energy functions -- App. 7. Dynamic model of the Staubli RX-90 robot -- App. 8. Computation of the inertia matrix of tree structured robots -- App. 9. Stability analysis using Lyapunov theory -- App. 10. Computation of the dynamic control law in the task space -- App. 11. Stability of passive systems.

Machine converted from AACR2 source record.

There are no comments on this title.

to post a comment.

Powered by Koha