Modeling, Performance Analysis and Control of Robot Manipulators (Control Systems, Robotics, and Manufacturing) (Control Systems, Robotics & Manufacturing)

Etienne Dombre, Wisama Khalil

ISBN 10: 190520910X / ISBN 13: 9781905209101

Edité par ISTE Ltd. 2006-12-30, 2006

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N° de réf. du vendeur 6666-WLY-9781905209101

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Titre : Modeling, Performance Analysis and Control ...

Éditeur : ISTE Ltd. 2006-12-30

Date d'édition : 2006

Reliure : Hardcover

Etat : New

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Synopsis :

New

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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.