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Modeling, identification & control of robots / Wisama, Khalil y Etiene Dombre

By: Material type: TextTextPublication details: Estados Unidos de América : kogan page cience,Description: 480 p. : 15x23 cmISBN:
  • 1-9039-9666 (Pasta rústica)
Subject(s): DDC classification:
  • 629.892 K45m 2002
Contents:
Terminology and general definitions. -- Transformation matrix between vectors, frames and screws. -- Direct geometric model of serial robots. -- Inverse geometric model of serial robots. -- direct kinematic model of serial robots. -- Inverse kinematic model of serial robots. -- Geometric and kinematic models of complex chain robots. -- intrduction to geometric and kinematic modeling of parallel robots. -- Dynamic modeling of serial robots. -- Dynamics of robots with complex structure. -- Geometric calibration of robots. -- Identification of the dynamic parameters. -- Trajectory generation motion control. -- Compliant motion control. -- Solution of the inverse geometric model equations. -- The inverse robot. -- Dyalitic elimination. -- Solution of systems of linear equations. -- Numerical computation of the base parameters. -- Recursive equations between the energy function. -- Dynamic model of the staubli RX-90 robot. -- Computation of the inertia matrix of tree structured robots. -- Stability analysis using Lyapunov theory. -- Computation of the dynamic control law in the task space. -- Stability of passive systems.
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Item type Current library Collection Call number Status Date due Barcode
Libro Libro Unicomfacauca Acervo general de Libros Available T05377
Libro Libro Unicomfacauca Acervo general de Libros Available T06375
Libro Libro Unicomfacauca Acervo general de Libros Available T06376

Incluye índice

Terminology and general definitions. -- Transformation matrix between vectors, frames and screws. -- Direct geometric model of serial robots. -- Inverse geometric model of serial robots. -- direct kinematic model of serial robots. -- Inverse kinematic model of serial robots. -- Geometric and kinematic models of complex chain robots. -- intrduction to geometric and kinematic modeling of parallel robots. -- Dynamic modeling of serial robots. -- Dynamics of robots with complex structure. -- Geometric calibration of robots. -- Identification of the dynamic parameters. -- Trajectory generation motion control. -- Compliant motion control. -- Solution of the inverse geometric model equations. -- The inverse robot. -- Dyalitic elimination. -- Solution of systems of linear equations. -- Numerical computation of the base parameters. -- Recursive equations between the energy function. -- Dynamic model of the staubli RX-90 robot. -- Computation of the inertia matrix of tree structured robots. -- Stability analysis using Lyapunov theory. -- Computation of the dynamic control law in the task space. -- Stability of passive systems.

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