|
|
|
|
|
|
|
|
1. |
Record Nr. |
UNINA9910821568003321 |
|
|
Autore |
Khalil W (Wisama) |
|
|
Titolo |
Modeling, identification & control of robots / / W. Khalil & E. Dombre |
|
|
|
|
|
Pubbl/distr/stampa |
|
|
London ; ; Sterling, VA, : Kogan Page Science, 2004, c2002 |
|
|
|
|
|
|
|
ISBN |
|
1-281-98541-4 |
9786611985417 |
0-08-053661-1 |
|
|
|
|
|
|
|
|
Edizione |
[1st ed.] |
|
|
|
|
|
Descrizione fisica |
|
1 online resource (503 p.) |
|
|
|
|
|
|
Collana |
|
Kogan Page Science paper edition |
|
|
|
|
|
|
Altri autori (Persone) |
|
|
|
|
|
|
Disciplina |
|
|
|
|
|
|
Soggetti |
|
Robots - Mathematical models |
Robots - Dynamics |
Robots - Control systems |
|
|
|
|
|
|
|
|
Lingua di pubblicazione |
|
|
|
|
|
|
Formato |
Materiale a stampa |
|
|
|
|
|
Livello bibliografico |
Monografia |
|
|
|
|
|
Note generali |
|
Originally published: London : HPS, 2002. |
|
|
|
|
|
|
Nota di bibliografia |
|
Includes bibliographical references (p. [447]-473) and index. |
|
|
|
|
|
|
Nota di contenuto |
|
Front Cover; Modeling, Identification & Control of Robots; Copyright Page; Contents; Introduction; Chapter 1. Terminology and general definitions; 1.1. Introduction; 1.2. Mechanical components of a robot; 1.3. Definitions; 1.4. Choosing the number of degrees of freedom of a robot; 1.5. Architectures of robot manipulators; 1.6. Characteristics of a robot; 1.7. Conclusion; Chapter 2. Transformation matrix between vectors, frames and screws; 2.1. Introduction; 2.2. Homogeneous coordinates; 2.3. Homogeneous transformations; 2.4. Kinematic screw |
2.5. Differential translation and rotation of frames2.6. Representation of forces (wrench); 2.7. Conclusion; Chapter 3. Direct geometric model of serial robots; 3.1 Introduction; 3.2. Description of the geometry of serial robots; 3.3. Direct geometric model; 3.4. Optimization of the computation of the direct geometric model; 3.5. Transformation matrix of the end-effector in the world frame; 3.6. Specification of the orientation; 3.7. Conclusion; Chapter 4. Inverse geometric model of serial robots; 4.1. Introduction; 4.2. Mathematical statement of the problem |
4.3. Inverse geometric model of robots with simple geometry4.4 Inverse geometric model of decoupled six degree-of-freedom robots; 4.5. Inverse geometric model of general robots; 4.6. Conclusion; |
|
|
|
|