Modeling identification & control of robots / by W. Khalil and E. Dombre.
Material type: TextPublisher: New York, NY : Taylor & Francis, 2002Description: xix, 480 pages : illustrations ; 24 cmContent type:- text
- unmediated
- volume
- 1560329831
- 9781560329831
- Modeling identification and control of robots
- Robots
- 629.892015118 21
- TJ211 .K48 2002
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 |
Browsing City Campus shelves, Shelving location: City Campus Main Collection Close shelf browser (Hides shelf browser)
629.892 WAL Moral machines : teaching robots right from wrong / | 629.892 WIS Applied robotics II / | 629.892 WOR Algorithmic foundation of robotics VIII / | 629.892015118 KHA Modeling identification & control of robots / | 629.892094 KAN Sublime dreams of living machines : the automaton in the European imagination / | 629.89251 HUG Robot programming : a guide to controlling autonomous robots / | 629.89263 COM Computational intelligence, control and computer vision in robotics and automation / |
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.