TY  - BOOK
AU  - Khalil,W.
AU  - Dombre,E.
TI  - Modeling identification & control of robots
SN  - 1560329831
AV  - TJ211 .K48 2002
U1  - 629.892015118 21
PY  - 2002///
CY  - New York, NY
PB  - Taylor & Francis
KW  - Robots
KW  - Mathematical models
KW  - Control systems
N1  - 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
ER  -