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Robot Manipulators – Modeling, Performance and Control
John Wiley & Sons Inc (Hersteller)
978-0-470-61228-6 (ISBN)
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Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
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 Microelectronique 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 Francois 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 ( Francois 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 ( Frederic 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.
Erscheint lt. Verlag | 5.1.2010 |
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Verlagsort | New York |
Sprache | englisch |
Themenwelt | Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik |
Technik ► Elektrotechnik / Energietechnik | |
ISBN-10 | 0-470-61228-2 / 0470612282 |
ISBN-13 | 978-0-470-61228-6 / 9780470612286 |
Zustand | Neuware |
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