TY  - BOOK
AU  - Khalil, Wisama
TI  - Modeling, identification & control of robots
SN  - 1-9039-9666 (Pasta rústica)
U1  - 629.892 K45m 2002 
CY  - Estados Unidos de América
PB  - kogan page cience
KW  - ROBÓTICA
KW  - ROBOTS
KW  - CONTROL AUTOMÁTICO
KW  - TEORÍA DE LAS MAQUINAS
N1  - 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
ER  -