000 02781cam a22004094i 4500
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
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.
300 _axix, 480 pages :
_billustrations ;
_c24 cm
336 _atext
_btxt
_2rdacontent
337 _aunmediated
_bn
_2rdamedia
338 _avolume
_bnc
_2rdacarrier
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
650 0 _aRobots
_xControl systems
_9327084
700 1 _aDombre, E.
_q(Etienne),
_eauthor.
_9256727
907 _a.b10825666
_b14-11-17
_c27-10-15
998 _ab
_ac
_b06-04-16
_cm
_da
_feng
_gnyu
_h0
945 _a629.892015118 KHA
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