Robot Manipulators (eBook)

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. Modeling and Identification of Serial
Robots (Wisama KHALIL and Etienne DOMBRE).

1.1. Introduction.

1.2. Geometric modeling.

1.3. Kinematic modeling.

1.4. Calibration of geometric parameters.

1.5. Dynamic modeling.

1.6. Identification of dynamic parameters.

1.7. Conclusion.

1.8. Bibliography.

Chapter 2. Modeling of Parallel
Robots (Jean-Pierre MERLET and François
PIERROT).

2.1. Introduction.

2.2. Machine types.

2.3. Inverse geometric and kinematic models.

2.4. Direct geometric model.

2.5. Bibliography.

Chapter 3. Performance Analysis of
Robots (Philippe WENGER).

3.1. Introduction.

3.2. Accessibility.

3.3. Workspace of a robot manipulator.

3.4. Concept of aspect.

3.5. Concept of connectivity.

3.6. Local performances.

3.7. Conclusion.

3.8. Bibliography.

Chapter 4. Trajectory Generation (Moussa HADDAD,
Taha CHETTIBI, Wisama KHALIL and Halim LEHTIHET).

4.1. Introduction.

4.2. Point-to-point trajectory in the joint space under
kinematic constraints.

4.3. Point-to-point trajectory in the task-space under kinematic
constraints.

4.4. Trajectory generation under kinodynamic constraints.

.4.5. Examples.

.4.6. Conclusion.

4.7. Bibliography.

Appendix: Stochastic Optimization Techniques.

Chapter 5. Position and Force Control of a Robot in a Free or
Constrained Space (Pierre DAUCHEZ and Philippe
FRAISSE).

5.1. Introduction.

5.2. Free space control.

5.3. Control in a constrained space.

5.4. Conclusion.

5.5. Bibliography.

Chapter 6. Visual Servoing (François
CHAUMETTE).

6.1. Introduction.

6.2. Modeling visual features.

6.3. Task function and control scheme.

6.4. Other exteroceptive sensors.

6.5. Conclusion.

6.6. Bibliography.

Chapter 7. Modeling and Control of Flexible
Robots (Frédéric BOYER, Wisama KHALIL,
Mouhacine BENOSMAN and George LEVEY).

7.1. Introduction.

7.2. Modeling of flexible robots.

7.3. Control of flexible robot manipulators.

7.4. Conclusion.

7.5. Bibliography.

List of Authors.

Index.