Modeling, Performance Analysis and Control of Robot Manipulators (Control Systems, Robotics, And Manufacturing) - Hardcover

Dombre, Etienne

Hardcover

ISBN 10: 190520910X ISBN 13: 9781905209101

Verlag: Hermes Science Publishing, 2007

Inhaltsangabe

This book presents the most recent research results on modeling and control of robot manipulators.

• Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models.
• Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis.
• Chapter 3 introduces global and local tools for performance analysis of serial robots.
• Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics.
• Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control).
• In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.

Über diesen Titel

Über die Autorin bzw. den Autor

Etienne Dombre is Director of Research at the National Centre for Scientific Research (CNRS) and is a researcher within the Laboratoire de Recherche en ’Informatique, Robotique et Microélectronique de Montpellier at the University of Montpellier, France.

Wisama Khalil is Professor at the Ecole Centrale de Nantes, France, and is a researcher at the Institute of Research in
Communication and Cybernetics.

Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models.

Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis.

Chapter 3 introduces global and local tools for performance analysis of serial robots.

Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics.

Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control).

In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.

Details zur Ausgabe

• Verlag: Hermes Science Publishing
• Erscheinungsdatum: 2007
• ISBN 10: 190520910X
• ISBN 13: 9781905209101
• Einband: Tapa dura
• Sprache: Englisch
• Auflage: 1
• Anzahl der Seiten: 398
• Kontakt zum Hersteller: Nicht verfügbar