Khalil, Wisama <br/><br/>
Modeling, identification & control of robots / 
Wisama, Khalil y Etiene Dombre 
 - Estados Unidos de América :  kogan page cience, 
 - 480 p. :  15x23 cm 
<br/><br/> Incluye índice 
<br/><br/>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. 
<br/><br/><label>ISBN: </label>1-9039-9666 (Pasta rústica) 
<br/><br/><label>Subjects--Topical Terms: </label><br/>ROBÓTICA<br/>ROBOTS<br/>CONTROL AUTOMÁTICO<br/>TEORÍA DE LAS MAQUINAS
<br/><br/><label>Dewey Class. No.: </label>629.892 K45m 2002