Modeling, performance analysis and control of robot manipulators /
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...
| Other Authors: | , |
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| Format: | eBook |
| Language: | English |
| Language Notes: | English. |
| Published: |
London ; Newport Beach, CA :
ISTE,
©2007.
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| Series: | Control systems, robotics and manufacturing series.
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| Subjects: | |
| Online Access: | Connect to the full text of this electronic book |
| Summary: | 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 with special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysi. |
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| Physical Description: | 1 online resource (xiii, 398 pages) : illustrations |
| Bibliography: | Includes bibliographical references and index. |
| ISBN: | 9780470612286 0470612282 9781847045607 184704560X 1280847638 9781280847639 9786610847631 6610847630 0470394498 9780470394496 |