Robot Manipulators: Modeling, Performance Analysis and Control

by Editor: Etienne Dombre (National Centre for Scientific Research (CNRS)); Editor: Wisama Khalil (Ecole Centrale de Nantes, France)

• ISBN13: 9780470394496
• ISBN10: 0470394498
• Format: eBook
• Copyright: 2010-01-01
• Publisher: Wiley-ISTE

Summary

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.

Table of Contents

Modeling and identification of serial robots

Modeling of parallel robots

Performance analysis of robots

Trajectory generation

Position and force control of robots in a free or confined space

Visual servoing

Modeling and control of flexible robots

List of Authors

Index

Table of Contents provided by Publisher. All Rights Reserved.