Modeling, Identification and Control of Robots

Written by two of Europe's leading robotics experts, this unique book provides the tools for a unified approach to the modeling of robotic manipulators, whatever their mechanical structure. It covers the development of various mathematical models required for the control and simulation of robots, and, unlike any other single publication, it covers the three fundamental issues of robotics : modeling, identification and control.

Contents

1. Terminology and general definitions
2. Transformation matrix between vectors, frames and screws
3. Direct geometric model of serial robots
4. Inverse geometric model of serial robots
5. Direct kinematic model of serial robots
6. Inverse kinematic model of serial robots
7. Geometric and kinematic models of complex chain robots
8. Introduction to geometric and kinematic modelling of parallel robots
9. Dynamic modelling of serial robots
10. Dynamics of robots with complex structure
11. Geometric calibration of robots
12. Identification of the dynamic parameters
13. Trajectory generation
14. Motion control
15. Compliant motion control