000 | 02781cam a22004094i 4500 | ||
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005 | 20211104205927.0 | ||
008 | 040301s2002 nyua b 001 0 eng d | ||
010 | _a 2002019610 | ||
011 | _aBIB MATCHES WORLDCAT | ||
020 | _a1560329831 | ||
020 | _a9781560329831 | ||
035 | _a(ATU)b10825666 | ||
035 | _a(OCoLC)50189374 | ||
040 |
_aOCoLC _beng _erda _dATU |
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042 | _apcc | ||
050 | 0 | 0 |
_aTJ211 _b.K48 2002 |
082 | 0 | 0 |
_a629.892015118 _221 |
100 | 1 |
_aKhalil, W. _q(Wisama), _eauthor. _9257044 |
|
245 | 1 | 0 |
_aModeling identification & control of robots / _cby W. Khalil and E. Dombre. |
246 | 3 | _aModeling identification and control of robots | |
246 | 3 | 0 | _aRobots |
264 | 1 |
_aNew York, NY : _bTaylor & Francis, _c2002. |
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300 |
_axix, 480 pages : _billustrations ; _c24 cm |
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336 |
_atext _btxt _2rdacontent |
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337 |
_aunmediated _bn _2rdamedia |
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338 |
_avolume _bnc _2rdacarrier |
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504 | _aIncludes bibliographical references (pages 447-473) and index. | ||
505 | 0 | 0 |
_g1. _tTerminology and general definitions -- _g2. _tTransformation matrix between vectors, frames and screws -- _g3. _tDirect geometric model of serial robots -- _g4. _tInverse geometric model of serial robots -- _g5. _tDirect kinematic model of serial robots -- _g6. _tInverse kinematic model of serial robots -- _g7. _tGeometric and kinematic models of complex chain robots -- _g8. _tIntroduction to geometric and kinematic modeling of parallel robots -- _g9. _tDynamic modeling of serial robots -- _g10. _tDynamics of robots with complex structure -- _g11. _tGeometric calibration of robots -- _g12. _tIdentification of the dynamic parameters -- _g13. _tTrajectory generation -- _g14. _tMotion control -- _g15. _tCompliant motion control -- _gApp. 1. _tSolution of the inverse geometric model equations (Table 4.1) -- _gApp. 2. _tThe inverse robot -- _gApp. 3. _tDyalitic elimination -- _gApp. 4. _tSolution of systems of linear equations -- _gApp. 5. _tNumerical computation of the base parameters -- _gApp. 6. _tRecursive equations between the energy functions -- _gApp. 7. _tDynamic model of the Staubli RX-90 robot -- _gApp. 8. _tComputation of the inertia matrix of tree structured robots -- _gApp. 9. _tStability analysis using Lyapunov theory -- _gApp. 10. _tComputation of the dynamic control law in the task space -- _gApp. 11. _tStability of passive systems. |
588 | _aMachine converted from AACR2 source record. | ||
650 | 0 |
_aRobots _xMathematical models _9717740 |
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650 | 0 |
_aRobots _xControl systems _9327084 |
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700 | 1 |
_aDombre, E. _q(Etienne), _eauthor. _9256727 |
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907 |
_a.b10825666 _b14-11-17 _c27-10-15 |
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