LEADER 05455nam 2200709 a 450 001 9910821568003321 005 20200520144314.0 010 $a1-281-98541-4 010 $a9786611985417 010 $a0-08-053661-1 035 $a(CKB)1000000000384689 035 $a(EBL)413853 035 $a(OCoLC)437091987 035 $a(SSID)ssj0000204029 035 $a(PQKBManifestationID)11172491 035 $a(PQKBTitleCode)TC0000204029 035 $a(PQKBWorkID)10175413 035 $a(PQKB)10703914 035 $a(MiAaPQ)EBC413853 035 $a(Au-PeEL)EBL413853 035 $a(CaPaEBR)ebr10276492 035 $a(CaONFJC)MIL198541 035 $a(EXLCZ)991000000000384689 100 $a20050125e20042002 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aModeling, identification & control of robots /$fW. Khalil & E. Dombre 205 $a1st ed. 210 $aLondon ;$aSterling, VA $cKogan Page Science$d2004, c2002 215 $a1 online resource (503 p.) 225 1 $aKogan Page Science paper edition 300 $aOriginally published: London : HPS, 2002. 311 $a1-903996-66-X 320 $aIncludes bibliographical references (p. [447]-473) and index. 327 $aFront 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 327 $a2.5. 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 327 $a4.3. 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; Chapter 5. Direct kinematic model of serial robots; 5.1. Introduction; 5.2. Computation of the Jacobian matrix from the direct geometric model; 5.3. Basic Jacobian matrix; 5.4. Decomposition of the Jacobian matrix into three matrices; 5.5. Efficient computation of the end-effector velocity; 5.6. Dimension of the task space of a robot; 5.7. Analysis of the robot workspace 327 $a5.8. Velocity transmission between joint space and task space5.9. Static model; 5.10. Second order kinematic model; 5.11. Kinematic model associated with the task coordinate representation; 5.12. Conclusion; Chapter 6. Inverse kinematic model of serial robots; 6.1 Introduction; 6.2. General form of the kinematic model; 6.3. Inverse kinematic model for a regular case; 6.4. Solution in the neighborhood of singularities; 6.5. Inverse kinematic model of redundant robots; 6.6. Numerical calculation of the inverse geometric problem; 6.7. Minimum description of tasks; 6.8. Conclusion 327 $aChapter 7. Geometric and kinematic models of complex chain robots7.1. Introduction; 7.2. Description of tree structured robots; 7.3. Description of robots with closed chains; 7.4. Direct geometric model of tree structured robots; 7.5. Direct geometric model of robots with closed chains; 7.6. Inverse geometric model of closed chain robots; 7.7. Resolution of the geometric constraint equations of a simple loop; 7.8. Kinematic model of complex chain robots; 7.9. Numerical calculation of qp and qc in terms of qa; 7.10. Number of degrees of freedom of robots with closed chains 327 $a7.11. Classification of singular positions 330 $aWritten by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level 410 0$aKogan Page Science paper edition. 517 3 $aRobots 606 $aRobots$xMathematical models 606 $aRobots$xDynamics 606 $aRobots$xControl systems 615 0$aRobots$xMathematical models. 615 0$aRobots$xDynamics. 615 0$aRobots$xControl systems. 676 $a629.892 700 $aKhalil$b W$g(Wisama)$0893783 701 $aDombre$b E$g(Etienne)$0893784 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910821568003321 996 $aModeling, identification & control of robots$94082832 997 $aUNINA