
- 500 pages
- English
- ePUB (mobile friendly)
- Available on iOS & Android
eBook - ePub
About this book
Written by two of Europe's 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
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Yes, you can access Modeling, Identification and Control of Robots by W. Khalil,E. Dombre in PDF and/or ePUB format, as well as other popular books in Computer Science & Artificial Intelligence (AI) & Semantics. We have over one million books available in our catalogue for you to explore.
Information
Table of contents
- Cover image
- Title page
- Table of Contents
- Dedication
- Copyright
- Introduction
- Chapter 1: Terminology and general definitions
- Chapter 2: Transformation matrix between vectors, frames and screws
- Chapter 3: Direct geometric model of serial robots
- Chapter 4: Inverse geometric model of serial robots
- Chapter 5: Direct kinematic model of serial robots
- Chapter 6: Inverse kinematic model of serial robots
- Chapter 7: Geometric and kinematic models of complex chain robots
- Chapter 8: Introduction to geometric and kinematic modeling of parallel robots
- Chapter 9: Dynamic modeling of serial robots
- Chapter 10: Dynamics of robots with complex structure
- Chapter 11: Geometric calibration of robots
- Chapter 12: Identification of the dynamic parameters
- Chapter 13: Trajectory generation
- Chapter 14: Motion control
- Chapter 15: Compliant motion control
- Appendix 1: Solution of the inverse geometric model equations (Table 4.1)
- Appendix 2: The inverse robot
- Appendix 3: Dyalitic elimination
- Appendix 4: Solution of systems of linear equations
- Appendix 5: Numerical computation of the base parameters
- Appendix 6: Recursive equations between the energy functions
- Appendix 7: Dynamic model of the Stäubli RX-90 robot
- Appendix 8: Computation of the inertia matrix of tree structured robots
- Appendix 9: Stability analysis using Lyapunov theory
- Appendix 10: Computation of the dynamic control law in the task space
- Appendix 11: Stability of passive systems
- References
- Index