Modeling, identification & control of robots [electronic resource] / W. Khalil & E. Dombre.

Khalil, W. (Wisama)
London ; Sterling, VA : Kogan Page Science, 2004, c2002.
Kogan Page Science paper edition.
Kogan Page Science paper edition
1 online resource (503 p.)
Robots -- Mathematical models.
Robots -- Dynamics.
Robots -- Control systems.
Electronic books.
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
Front Cover; Modeling, Identification & Control of Robots; Copyright Page; Contents; Introduction; Chapter 1. Terminology and general definitions; 1.1. Introduction; 1.2. Mechanical components of a robot; 1.3. Definitions; 1.4. Choosing the number of degrees of freedom of a robot; 1.5. Architectures of robot manipulators; 1.6. Characteristics of a robot; 1.7. Conclusion; Chapter 2. Transformation matrix between vectors, frames and screws; 2.1. Introduction; 2.2. Homogeneous coordinates; 2.3. Homogeneous transformations; 2.4. Kinematic screw
2.5. Differential translation and rotation of frames2.6. Representation of forces (wrench); 2.7. Conclusion; Chapter 3. Direct geometric model of serial robots; 3.1 Introduction; 3.2. Description of the geometry of serial robots; 3.3. Direct geometric model; 3.4. Optimization of the computation of the direct geometric model; 3.5. Transformation matrix of the end-effector in the world frame; 3.6. Specification of the orientation; 3.7. Conclusion; Chapter 4. Inverse geometric model of serial robots; 4.1. Introduction; 4.2. Mathematical statement of the problem
4.3. Inverse geometric model of robots with simple geometry4.4 Inverse geometric model of decoupled six degree-of-freedom robots; 4.5. Inverse geometric model of general robots; 4.6. Conclusion; Chapter 5. Direct kinematic model of serial robots; 5.1. Introduction; 5.2. Computation of the Jacobian matrix from the direct geometric model; 5.3. Basic Jacobian matrix; 5.4. Decomposition of the Jacobian matrix into three matrices; 5.5. Efficient computation of the end-effector velocity; 5.6. Dimension of the task space of a robot; 5.7. Analysis of the robot workspace
5.8. Velocity transmission between joint space and task space5.9. Static model; 5.10. Second order kinematic model; 5.11. Kinematic model associated with the task coordinate representation; 5.12. Conclusion; Chapter 6. Inverse kinematic model of serial robots; 6.1 Introduction; 6.2. General form of the kinematic model; 6.3. Inverse kinematic model for a regular case; 6.4. Solution in the neighborhood of singularities; 6.5. Inverse kinematic model of redundant robots; 6.6. Numerical calculation of the inverse geometric problem; 6.7. Minimum description of tasks; 6.8. Conclusion
Chapter 7. Geometric and kinematic models of complex chain robots7.1. Introduction; 7.2. Description of tree structured robots; 7.3. Description of robots with closed chains; 7.4. Direct geometric model of tree structured robots; 7.5. Direct geometric model of robots with closed chains; 7.6. Inverse geometric model of closed chain robots; 7.7. Resolution of the geometric constraint equations of a simple loop; 7.8. Kinematic model of complex chain robots; 7.9. Numerical calculation of qp and qc in terms of qa; 7.10. Number of degrees of freedom of robots with closed chains
7.11. Classification of singular positions
Originally published: London : HPS, 2002.
Includes bibliographical references (p. [447]-473) and index.
Dombre, E. (Etienne)
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