Modeling, identification & control of robots [[electronic resource] /] / W. Khalil & E. Dombre |
Autore | Khalil W (Wisama) |
Pubbl/distr/stampa | London ; ; Sterling, VA, : Kogan Page Science, 2004, c2002 |
Descrizione fisica | 1 online resource (503 p.) |
Disciplina | 629.892 |
Altri autori (Persone) | DombreE (Etienne) |
Collana | Kogan Page Science paper edition |
Soggetto topico |
Robots - Mathematical models
Robots - Dynamics Robots - Control systems |
Soggetto genere / forma | Electronic books. |
ISBN |
1-281-98541-4
9786611985417 0-08-053661-1 |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
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; 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 5.8. 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 Chapter 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 7.11. Classification of singular positions |
Altri titoli varianti | Robots |
Record Nr. | UNINA-9910457995403321 |
Khalil W (Wisama) | ||
London ; ; Sterling, VA, : Kogan Page Science, 2004, c2002 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Modeling, identification & control of robots [[electronic resource] /] / W. Khalil & E. Dombre |
Autore | Khalil W (Wisama) |
Pubbl/distr/stampa | London ; ; Sterling, VA, : Kogan Page Science, 2004, c2002 |
Descrizione fisica | 1 online resource (503 p.) |
Disciplina | 629.892 |
Altri autori (Persone) | DombreE (Etienne) |
Collana | Kogan Page Science paper edition |
Soggetto topico |
Robots - Mathematical models
Robots - Dynamics Robots - Control systems |
ISBN |
1-281-98541-4
9786611985417 0-08-053661-1 |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
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; 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 5.8. 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 Chapter 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 7.11. Classification of singular positions |
Altri titoli varianti | Robots |
Record Nr. | UNINA-9910784638103321 |
Khalil W (Wisama) | ||
London ; ; Sterling, VA, : Kogan Page Science, 2004, c2002 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Modeling, identification & control of robots / / W. Khalil & E. Dombre |
Autore | Khalil W (Wisama) |
Edizione | [1st ed.] |
Pubbl/distr/stampa | London ; ; Sterling, VA, : Kogan Page Science, 2004, c2002 |
Descrizione fisica | 1 online resource (503 p.) |
Disciplina | 629.892 |
Altri autori (Persone) | DombreE (Etienne) |
Collana | Kogan Page Science paper edition |
Soggetto topico |
Robots - Mathematical models
Robots - Dynamics Robots - Control systems |
ISBN |
1-281-98541-4
9786611985417 0-08-053661-1 |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
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; 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 5.8. 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 Chapter 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 7.11. Classification of singular positions |
Altri titoli varianti | Robots |
Record Nr. | UNINA-9910821568003321 |
Khalil W (Wisama) | ||
London ; ; Sterling, VA, : Kogan Page Science, 2004, c2002 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Modeling, performance analysis and control of robot manipulators [[electronic resource] /] / edited by Etienne Dombre, Wisama Khalil |
Pubbl/distr/stampa | London ; ; Newport Beach, CA, : ISTE, c2007 |
Descrizione fisica | 1 online resource (414 p.) |
Disciplina |
629.8/933
629.892 629.8933 |
Altri autori (Persone) |
DombreE (Etienne)
KhalilW (Wisama) |
Collana | Control systems, robotics and manufacturing series |
Soggetto topico |
Robotics
Manipulators (Mechanism) |
ISBN |
1-280-84763-8
9786610847631 0-470-61228-2 0-470-39449-8 1-84704-560-X |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto |
Modeling, Performance Analysis and Control of Robot Manipulators; Table of Contents; Chapter 1. Modeling and Identification of Serial Robots; 1.1. Introduction; 1.2. Geometric modeling; 1.2.1. Geometric description; 1.2.2. Direct geometric model; 1.2.3. Inverse geometric model; 1.2.3.1. Stating the problem; 1.2.3.2. Principle of Paul's method; 1.3. Kinematic modeling; 1.3.1. Direct kinematic model; 1.3.1.1 Calculation of the Jacobian matrix by derivation of the DGM; 1.3.1.2. Kinematic Jacobian matrix; 1.3.1.3. Decomposition of the kinematic Jacobian matrix into three matrices
1.3.1.4. Dimension of the operational space of a robot1.3.2. Inverse kinematic model; 1.3.2.1. General form of the kinematic model; 1.3.2.2. Inverse kinematic model for the regular case; 1.3.2.3. Solution at the proximity of singular positions; 1.3.2.4. Inverse kinematic model of redundant robots; 1.4. Calibration of geometric parameters; 1.4.1. Introduction; 1.4.2. Geometric parameters; 1.4.2.1. Geometric parameters of the robot; 1.4.2.2. Parameters of the robot's location; 1.4.2.3. Geometric parameters of the end-effector; 1.4.3. Generalized differential model of a robot 1.4.4. Principle of geometric calibration1.4.4.1. General form of the calibration model; 1.4.4.2. Identifying the geometric parameters; 1.4.4.3. Solving the identification equations; 1.4.5. Calibration methods of geometric parameters; 1.4.5.1. Calibration model by measuring the end-effector location; 1.4.5.2. Autonomous calibration models; 1.4.6. Correction of geometric parameters; 1.5. Dynamic modeling; 1.5.1. Lagrange formalism; 1.5.1.1. General form of dynamic equations; 1.5.1.2. Calculation of energy; 1.5.1.3. Properties of the dynamic mode; 1.5.1.4. Taking into consideration the friction 1.5.1.5. Taking into account the inertia of the actuator's rotor1.5.1.6. Taking into consideration the forces and moments exerted by the end-effector on its environment; 1.5.2. Newton-Euler formalism; 1.5.2.1. Newton-Euler equations linear in the inertial parameters; 1.5.2.2. Practical form of Newton-Euler equations; 1.5.3. Determining the base inertial parameters; 1.6. Identification of dynamic parameters; 1.6.1. Introduction; 1.6.2. Identification principle of dynamic parameters; 1.6.2.1. Solving method; 1.6.2.2. Identifiable parameters; 1.6.2.3. Choice of identification trajectories 1.6.2.4. Evaluation of joint coordinates1.6.2.5. Evaluation of joint torques; 1.6.3. Identification model using the dynamic model; 1.6.4. Sequential formulation of the dynamic model; 1.6.5. Practical considerations; 1.7. Conclusion; 1.8. Bibliography; Chapter 2. Modeling of Parallel Robots; 2.1. Introduction; 2.1.1. Characteristics of classic robots; 2.1.2. Other types of robot structure; 2.1.3. General advantages and disadvantages; 2.1.4. Present day uses; 2.1.4.1. Simulators and space applications; 2.1.4.2. Industrial applications; 2.1.4.3. Medical applications; 2.1.4.4. Precise positioning 2.2. Machine types |
Record Nr. | UNISA-996217138503316 |
London ; ; Newport Beach, CA, : ISTE, c2007 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. di Salerno | ||
|
Modeling, performance analysis and control of robot manipulators [[electronic resource] /] / edited by Etienne Dombre, Wisama Khalil |
Pubbl/distr/stampa | London ; ; Newport Beach, CA, : ISTE, c2007 |
Descrizione fisica | 1 online resource (414 p.) |
Disciplina |
629.8/933
629.892 629.8933 |
Altri autori (Persone) |
DombreE (Etienne)
KhalilW (Wisama) |
Collana | Control systems, robotics and manufacturing series |
Soggetto topico |
Robotics
Manipulators (Mechanism) |
ISBN |
1-280-84763-8
9786610847631 0-470-61228-2 0-470-39449-8 1-84704-560-X |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto |
Modeling, Performance Analysis and Control of Robot Manipulators; Table of Contents; Chapter 1. Modeling and Identification of Serial Robots; 1.1. Introduction; 1.2. Geometric modeling; 1.2.1. Geometric description; 1.2.2. Direct geometric model; 1.2.3. Inverse geometric model; 1.2.3.1. Stating the problem; 1.2.3.2. Principle of Paul's method; 1.3. Kinematic modeling; 1.3.1. Direct kinematic model; 1.3.1.1 Calculation of the Jacobian matrix by derivation of the DGM; 1.3.1.2. Kinematic Jacobian matrix; 1.3.1.3. Decomposition of the kinematic Jacobian matrix into three matrices
1.3.1.4. Dimension of the operational space of a robot1.3.2. Inverse kinematic model; 1.3.2.1. General form of the kinematic model; 1.3.2.2. Inverse kinematic model for the regular case; 1.3.2.3. Solution at the proximity of singular positions; 1.3.2.4. Inverse kinematic model of redundant robots; 1.4. Calibration of geometric parameters; 1.4.1. Introduction; 1.4.2. Geometric parameters; 1.4.2.1. Geometric parameters of the robot; 1.4.2.2. Parameters of the robot's location; 1.4.2.3. Geometric parameters of the end-effector; 1.4.3. Generalized differential model of a robot 1.4.4. Principle of geometric calibration1.4.4.1. General form of the calibration model; 1.4.4.2. Identifying the geometric parameters; 1.4.4.3. Solving the identification equations; 1.4.5. Calibration methods of geometric parameters; 1.4.5.1. Calibration model by measuring the end-effector location; 1.4.5.2. Autonomous calibration models; 1.4.6. Correction of geometric parameters; 1.5. Dynamic modeling; 1.5.1. Lagrange formalism; 1.5.1.1. General form of dynamic equations; 1.5.1.2. Calculation of energy; 1.5.1.3. Properties of the dynamic mode; 1.5.1.4. Taking into consideration the friction 1.5.1.5. Taking into account the inertia of the actuator's rotor1.5.1.6. Taking into consideration the forces and moments exerted by the end-effector on its environment; 1.5.2. Newton-Euler formalism; 1.5.2.1. Newton-Euler equations linear in the inertial parameters; 1.5.2.2. Practical form of Newton-Euler equations; 1.5.3. Determining the base inertial parameters; 1.6. Identification of dynamic parameters; 1.6.1. Introduction; 1.6.2. Identification principle of dynamic parameters; 1.6.2.1. Solving method; 1.6.2.2. Identifiable parameters; 1.6.2.3. Choice of identification trajectories 1.6.2.4. Evaluation of joint coordinates1.6.2.5. Evaluation of joint torques; 1.6.3. Identification model using the dynamic model; 1.6.4. Sequential formulation of the dynamic model; 1.6.5. Practical considerations; 1.7. Conclusion; 1.8. Bibliography; Chapter 2. Modeling of Parallel Robots; 2.1. Introduction; 2.1.1. Characteristics of classic robots; 2.1.2. Other types of robot structure; 2.1.3. General advantages and disadvantages; 2.1.4. Present day uses; 2.1.4.1. Simulators and space applications; 2.1.4.2. Industrial applications; 2.1.4.3. Medical applications; 2.1.4.4. Precise positioning 2.2. Machine types |
Record Nr. | UNINA-9910143312303321 |
London ; ; Newport Beach, CA, : ISTE, c2007 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Modeling, performance analysis and control of robot manipulators [[electronic resource] /] / edited by Etienne Dombre, Wisama Khalil |
Pubbl/distr/stampa | London ; ; Newport Beach, CA, : ISTE, c2007 |
Descrizione fisica | 1 online resource (414 p.) |
Disciplina |
629.8/933
629.892 629.8933 |
Altri autori (Persone) |
DombreE (Etienne)
KhalilW (Wisama) |
Collana | Control systems, robotics and manufacturing series |
Soggetto topico |
Robotics
Manipulators (Mechanism) |
ISBN |
1-280-84763-8
9786610847631 0-470-61228-2 0-470-39449-8 1-84704-560-X |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto |
Modeling, Performance Analysis and Control of Robot Manipulators; Table of Contents; Chapter 1. Modeling and Identification of Serial Robots; 1.1. Introduction; 1.2. Geometric modeling; 1.2.1. Geometric description; 1.2.2. Direct geometric model; 1.2.3. Inverse geometric model; 1.2.3.1. Stating the problem; 1.2.3.2. Principle of Paul's method; 1.3. Kinematic modeling; 1.3.1. Direct kinematic model; 1.3.1.1 Calculation of the Jacobian matrix by derivation of the DGM; 1.3.1.2. Kinematic Jacobian matrix; 1.3.1.3. Decomposition of the kinematic Jacobian matrix into three matrices
1.3.1.4. Dimension of the operational space of a robot1.3.2. Inverse kinematic model; 1.3.2.1. General form of the kinematic model; 1.3.2.2. Inverse kinematic model for the regular case; 1.3.2.3. Solution at the proximity of singular positions; 1.3.2.4. Inverse kinematic model of redundant robots; 1.4. Calibration of geometric parameters; 1.4.1. Introduction; 1.4.2. Geometric parameters; 1.4.2.1. Geometric parameters of the robot; 1.4.2.2. Parameters of the robot's location; 1.4.2.3. Geometric parameters of the end-effector; 1.4.3. Generalized differential model of a robot 1.4.4. Principle of geometric calibration1.4.4.1. General form of the calibration model; 1.4.4.2. Identifying the geometric parameters; 1.4.4.3. Solving the identification equations; 1.4.5. Calibration methods of geometric parameters; 1.4.5.1. Calibration model by measuring the end-effector location; 1.4.5.2. Autonomous calibration models; 1.4.6. Correction of geometric parameters; 1.5. Dynamic modeling; 1.5.1. Lagrange formalism; 1.5.1.1. General form of dynamic equations; 1.5.1.2. Calculation of energy; 1.5.1.3. Properties of the dynamic mode; 1.5.1.4. Taking into consideration the friction 1.5.1.5. Taking into account the inertia of the actuator's rotor1.5.1.6. Taking into consideration the forces and moments exerted by the end-effector on its environment; 1.5.2. Newton-Euler formalism; 1.5.2.1. Newton-Euler equations linear in the inertial parameters; 1.5.2.2. Practical form of Newton-Euler equations; 1.5.3. Determining the base inertial parameters; 1.6. Identification of dynamic parameters; 1.6.1. Introduction; 1.6.2. Identification principle of dynamic parameters; 1.6.2.1. Solving method; 1.6.2.2. Identifiable parameters; 1.6.2.3. Choice of identification trajectories 1.6.2.4. Evaluation of joint coordinates1.6.2.5. Evaluation of joint torques; 1.6.3. Identification model using the dynamic model; 1.6.4. Sequential formulation of the dynamic model; 1.6.5. Practical considerations; 1.7. Conclusion; 1.8. Bibliography; Chapter 2. Modeling of Parallel Robots; 2.1. Introduction; 2.1.1. Characteristics of classic robots; 2.1.2. Other types of robot structure; 2.1.3. General advantages and disadvantages; 2.1.4. Present day uses; 2.1.4.1. Simulators and space applications; 2.1.4.2. Industrial applications; 2.1.4.3. Medical applications; 2.1.4.4. Precise positioning 2.2. Machine types |
Record Nr. | UNINA-9910830053603321 |
London ; ; Newport Beach, CA, : ISTE, c2007 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|
Modeling, performance analysis and control of robot manipulators / / edited by Etienne Dombre, Wisama Khalil |
Pubbl/distr/stampa | London ; ; Newport Beach, CA, : ISTE, c2007 |
Descrizione fisica | 1 online resource (414 p.) |
Disciplina | 629.8/933 |
Altri autori (Persone) |
DombreE (Etienne)
KhalilW (Wisama) |
Collana | Control systems, robotics and manufacturing series |
Soggetto topico |
Robotics
Manipulators (Mechanism) |
ISBN |
1-280-84763-8
9786610847631 0-470-61228-2 0-470-39449-8 1-84704-560-X |
Formato | Materiale a stampa |
Livello bibliografico | Monografia |
Lingua di pubblicazione | eng |
Nota di contenuto |
Modeling, Performance Analysis and Control of Robot Manipulators; Table of Contents; Chapter 1. Modeling and Identification of Serial Robots; 1.1. Introduction; 1.2. Geometric modeling; 1.2.1. Geometric description; 1.2.2. Direct geometric model; 1.2.3. Inverse geometric model; 1.2.3.1. Stating the problem; 1.2.3.2. Principle of Paul's method; 1.3. Kinematic modeling; 1.3.1. Direct kinematic model; 1.3.1.1 Calculation of the Jacobian matrix by derivation of the DGM; 1.3.1.2. Kinematic Jacobian matrix; 1.3.1.3. Decomposition of the kinematic Jacobian matrix into three matrices
1.3.1.4. Dimension of the operational space of a robot1.3.2. Inverse kinematic model; 1.3.2.1. General form of the kinematic model; 1.3.2.2. Inverse kinematic model for the regular case; 1.3.2.3. Solution at the proximity of singular positions; 1.3.2.4. Inverse kinematic model of redundant robots; 1.4. Calibration of geometric parameters; 1.4.1. Introduction; 1.4.2. Geometric parameters; 1.4.2.1. Geometric parameters of the robot; 1.4.2.2. Parameters of the robot's location; 1.4.2.3. Geometric parameters of the end-effector; 1.4.3. Generalized differential model of a robot 1.4.4. Principle of geometric calibration1.4.4.1. General form of the calibration model; 1.4.4.2. Identifying the geometric parameters; 1.4.4.3. Solving the identification equations; 1.4.5. Calibration methods of geometric parameters; 1.4.5.1. Calibration model by measuring the end-effector location; 1.4.5.2. Autonomous calibration models; 1.4.6. Correction of geometric parameters; 1.5. Dynamic modeling; 1.5.1. Lagrange formalism; 1.5.1.1. General form of dynamic equations; 1.5.1.2. Calculation of energy; 1.5.1.3. Properties of the dynamic mode; 1.5.1.4. Taking into consideration the friction 1.5.1.5. Taking into account the inertia of the actuator's rotor1.5.1.6. Taking into consideration the forces and moments exerted by the end-effector on its environment; 1.5.2. Newton-Euler formalism; 1.5.2.1. Newton-Euler equations linear in the inertial parameters; 1.5.2.2. Practical form of Newton-Euler equations; 1.5.3. Determining the base inertial parameters; 1.6. Identification of dynamic parameters; 1.6.1. Introduction; 1.6.2. Identification principle of dynamic parameters; 1.6.2.1. Solving method; 1.6.2.2. Identifiable parameters; 1.6.2.3. Choice of identification trajectories 1.6.2.4. Evaluation of joint coordinates1.6.2.5. Evaluation of joint torques; 1.6.3. Identification model using the dynamic model; 1.6.4. Sequential formulation of the dynamic model; 1.6.5. Practical considerations; 1.7. Conclusion; 1.8. Bibliography; Chapter 2. Modeling of Parallel Robots; 2.1. Introduction; 2.1.1. Characteristics of classic robots; 2.1.2. Other types of robot structure; 2.1.3. General advantages and disadvantages; 2.1.4. Present day uses; 2.1.4.1. Simulators and space applications; 2.1.4.2. Industrial applications; 2.1.4.3. Medical applications; 2.1.4.4. Precise positioning 2.2. Machine types |
Altri titoli varianti | Robot manipulators |
Record Nr. | UNINA-9910876631203321 |
London ; ; Newport Beach, CA, : ISTE, c2007 | ||
Materiale a stampa | ||
Lo trovi qui: Univ. Federico II | ||
|