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...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | eBook |
| Language: | English |
| Published: |
London ; Sterling, VA :
Kogan Page Science,
2004
|
| Series: | Kogan Page Science paper edition.
|
| Subjects: | |
| Online Access: | Connect to the full text of this electronic book Publisher description Table of contents only |
Table of 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 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.