Contribution à la modélisation et à la commande dynamique des robots manipulateurs
Title | Contribution à la modélisation et à la commande dynamique des robots manipulateurs PDF eBook |
Author | Marc Renaud (docteur ès sciences.) |
Publisher | |
Pages | 187 |
Release | 1980 |
Genre | |
ISBN |
Contribution à la modélisation et a la commande dynamique des robots manipulateurs
Title | Contribution à la modélisation et a la commande dynamique des robots manipulateurs PDF eBook |
Author | Marc Renaud |
Publisher | |
Pages | 187 |
Release | 1980 |
Genre | |
ISBN |
Contribution à la modélisation géométrique et dynamique des robots manipulateurs à structure de chaîne cinématique simple ou complexe
Title | Contribution à la modélisation géométrique et dynamique des robots manipulateurs à structure de chaîne cinématique simple ou complexe PDF eBook |
Author | Sai͏̈d Mohamed Megahed |
Publisher | |
Pages | 3 |
Release | 1984 |
Genre | |
ISBN |
Modeling, Identification and Control of Robots
Title | Modeling, Identification and Control of Robots PDF eBook |
Author | W. Khalil |
Publisher | Butterworth-Heinemann |
Pages | 503 |
Release | 2004-07-01 |
Genre | Computers |
ISBN | 0080536611 |
Written 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
Robot Manipulators
Title | Robot Manipulators PDF eBook |
Author | Etienne Dombre |
Publisher | John Wiley & Sons |
Pages | 304 |
Release | 2013-03-01 |
Genre | Technology & Engineering |
ISBN | 1118614100 |
This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
Contribution a la modelisation et a la commande dynamique des robots flexibles
Title | Contribution a la modelisation et a la commande dynamique des robots flexibles PDF eBook |
Author | Frédéric Boyer (professeur de robotique).) |
Publisher | |
Pages | |
Release | 1994 |
Genre | |
ISBN |
Modeling Identification and Control of Robots
Title | Modeling Identification and Control of Robots PDF eBook |
Author | Wisama Khalil |
Publisher | CRC Press |
Pages | 508 |
Release | 2002 |
Genre | Robots |
ISBN | 9781560329831 |