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Modeling, Identification and Control of Robots.
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: m.
| Clasificación: | Libro Electrónico |
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| Autor principal: | |
| Otros Autores: | |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
Burlington :
Elsevier,
2004.
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| Colección: | Kogan Page Science paper edition Modeling, identification & control of robots
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| Temas: | |
| Acceso en línea: | Texto completo |
Tabla de Contenidos:
- Front Cover; Modeling, Identification & Control of Robots; Copyright Page; Contents; 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 robotsChapter 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; Appendices; Appendix 1. Solution of the inverse geometric model equations (Table 4.1); Appendix 2. The inverse robot; Appendix 3. Dyalitic eliminati.