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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| Format: | eBook |
| Language: | English |
| Published: |
London ; Sterling, VA :
Kogan Page Science,
2004
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| Series: | Kogan Page Science paper edition.
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| Subjects: | |
| Online Access: | Connect to the full text of this electronic book Publisher description Table of contents only |
MARC
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| 100 | 1 | |a Khalil, W. |q (Wisama) | |
| 245 | 1 | 0 | |a Modeling, identification & control of robots / |c W. Khalil & E. Dombre. |
| 246 | 3 | 0 | |a Robots |
| 264 | 1 | |a London ; |a Sterling, VA : |b Kogan Page Science, |c 2004 | |
| 264 | 4 | |c ©2002 | |
| 300 | |a xix, 480 pages : |b illustrations ; |c 24 cm. | ||
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| 490 | 1 | |a Kogan Page Science paper edition | |
| 533 | |a Electronic reproduction. |b Amsterdam : |c Elsevier Science & Technology, |d 2007. |n Mode of access: World Wide Web. |n System requirements: Web browser. |n Title from title screen (viewed on Aug. 2, 2007). |n Access may be restricted to users at subscribing institutions. | ||
| 520 | |a 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. | ||
| 505 | 0 | |a 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 modelling of parallel robots. Dynamic modelling of serial robots. Dynamics of robots with complex structure. Geometric calibration of robots. Identification of the dynamic parameters. Trajectory control. Motion control. Compliant motion control. Appendices. | |
| 500 | |a Originally published: London : HPS, 2002. | ||
| 504 | |a Includes bibliographical references (pages [447]-473) and index. | ||
| 500 | |a Electronic resource. | ||
| 650 | 0 | |a Robots |x Mathematical models. | |
| 650 | 0 | |a Robots |x Dynamics. | |
| 650 | 0 | |a Robots |x Control systems. | |
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| 700 | 1 | |a Dombre, E. |q (Etienne) | |
| 730 | 0 | |a Referex. | |
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