000			01814nam a2200229Ia 4500
003			MX-SIABUC
005			20240716171923.0
020			_a1-9039-9666 (Pasta rústica)
082			_a629.892 K45m 2002
100			_aKhalil, Wisama
245			_aModeling, identification & control of robots / _cWisama, Khalil y Etiene Dombre
260			_aEstados Unidos de América : _bkogan page cience,
300			_a480 p. : _b15x23 cm
500			_aIncluye índice
505			_aTerminology 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.
650			_aROBÓTICA
650			_aROBOTS
650			_aCONTROL AUTOMÁTICO
650			_aTEORÍA DE LAS MAQUINAS
008			500030 -us# 8000003000eng00
999			_c3850 _d3850