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Synopsis
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Présentation de l'éditeur
This book presents the most recent research results on modeling andcontrol of robot manipulators.
- Chapter 1 gives unified tools to derive direct andinverse geometric, kinematic and dynamic models of serial robotsand addresses the issue of identification of the geometric anddynamic parameters of these models.
- Chapter 2 describes the main features of serial robots,the different architectures and the methods used to obtain directand inverse geometric, kinematic and dynamic models, paying specialattention to singularity analysis.
- Chapter 3 introduces global and local tools forperformance analysis of serial robots.
- Chapter 4 presents an original optimization techniquefor point–to–point trajectory generation accounting for robotdynamics.
- Chapter 5 presents standard control techniques in thejoint space and task space for free motion (PID, computed torque,adaptive dynamic control and variable structure control) andconstrained motion (compliant force–position control).
- In Chapter 6, the concept of vision–based control isdeveloped and Chapter 7 is devoted to specific issue ofrobots with flexible links. Efficient recursive Newton–Euleralgorithms for both inverse and direct modeling are presented, aswell as control methods ensuring position setting and vibrationdamping.
Biographie de l'auteur
Etienne Dombre is Director of Research at the NationalCentre for Scientific Research (CNRS) and is a researcher withinthe Laboratoire de Recherche en Informatique, Robotique etMicroélectronique de Montpellier at the University ofMontpellier, France.
Wisama Khalil is Professor at the Ecole Centrale deNantes, France, and is a researcher at the Institute of Researchin
Communication and Cybernetics.
Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.
- ÉditeurISTE Ltd and John Wiley & Sons Inc
- Date d'édition2007
- ISBN 10 190520910X
- ISBN 13 9781905209101
- ReliureRelié
- Langueanglais
- Nombre de pages398
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Robot Manipulators (Hardcover)
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ISTE Ltd and John Wiley & Sons Inc, London, 2007
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ISBN 13 : 9781905209101
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Hardcover. Etat : new. Hardcover. This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models.Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis.Chapter 3 introduces global and local tools for performance analysis of serial robots.Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics.Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control).In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping. This book presents the most recent research results on modeling and control of robot manipulators. *Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Shipping may be from multiple locations in the US or from the UK, depending on stock availability. N° de réf. du vendeur 9781905209101
Quantité disponible : 1 disponible(s)