Modeling, Identification & Control of Robots

by Wisama Khalil

Khalil (mechanical and production systems, Institut de Recherche en Communication et CybernTtique de Nantes, France) and Dombre (robotics, U. Montpellier, France) explain the mathematical modeling tools (geometric, kinematic, and dynamic) used in relation to the control and simulation of robots. Separate chapters discuss direct geometric modeling of simple open chain robots, inverse geometric models, the direct kinematic model, and inverse kinematics. Those models are also explored in relation to complex chain and parallel robots. Final chapters look at dynamic modeling, identification of geometric and dynamic parameters, the problem of trajectory generation, and motion and force control. This is a revised and augmented edition of the French work ModTlisation, identification et commande des robots (1999). Annotation c. Book News, Inc., Portland, OR (booknews.com)

Hardcover

Published March 29, 2002