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Modeling, identification & control of robots /

Written by two of Europes leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It cover...

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Bibliographic Details
Main Authors: Khalil, W. Wisama
Corporate Authors: Elsevier Science & Technology
Group Author: Dombre, E. Etienne
Published: Kogan Page Science,
Publisher Address: London ; Sterling, VA :
Publication Dates: 2004, 2002.
Literature type: eBook
Language: English
Series: Kogan Page Science paper edition
Subjects:
Robots > Mathematical models
Robots > Dynamics
Robots > Control systems
TECHNOLOGY & ENGINEERING > Robotics
Electronic books
Online Access: http://www.sciencedirect.com/science/book/9781903996669
Summary: Written by two of Europes leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots. World class authority Unique range of coverage not available in any other book Provides a complete course on robotic control at an undergraduate and graduate level.
Item Description: Originally published: London : HPS, 2002.
Carrier Form: 1 online resource (xix, 480 pages) : illustrations.
Bibliography: Includes bibliographical references (pages 447-473) and index.
ISBN: 9780080536613
0080536611
9781903996669
190399666X
Index Number: TJ211
CLC: TP242
Contents: Terminology and general definitions -- Transformation matrix between vectors, frames and screws -- Direct geometric model of serial robots -- Inverse geometric model of serial robots -- Direct kinematic model of serial robots -- Inverse kinematic model of serial robots -- Geometric and kinematic models of complex chain robots -- Introduction to geometric and kinematic modeling of parallel robots -- Dynamic modeling of serial robots -- Dynamics of robots with complex structure -- Geometric calibration of robots -- Identification of the dynamic parameters -- Trajectory generation -- Motion con

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