http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
Modeling, performance analysis and control of robot manipulators
1 online resource (xiii, 398 pages) : illustrations
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.
Modeling and identification of serial robots / Wisama Khalil and Etienne Dombre -- Modeling of parallel robots / Jean-Pierre Merlet and François Pierrot -- Performance analysis of robots / Philippe Wenger -- Trajectory generation / Moussa Haddad [and others] -- Position and force control of a robot in a free or constrained space / Pierre Dauchez and Philippe Fraisse -- Visual servoing / François Chaumette.
edited by Etienne Dombre, Wisama Khalil.
Includes bibliographical references and index.
London ; Newport Beach, CA : ISTE, ©2007
Control systems, robotics and manufacturing series