Robot Manipulators

Beschreibung

This book presents the most recent research results on modeling andcontrol of robot manipulators. * Chapter 1 gives unified tools to derive direct andinverse geometric, kinematic and dynamic models of serial robotsand addresses the issue of identification of the geometric anddynamic parameters of these models. * Chapter 2 describes the main features of serial robots,the different architectures and the methods used to obtain directand inverse geometric, kinematic and dynamic models, paying specialattention to singularity analysis. * Chapter 3 introduces global and local tools forperformance analysis of serial robots. * Chapter 4 presents an original optimization techniquefor point-to-point trajectory generation accounting for robotdynamics. * Chapter 5 presents standard control techniques in thejoint space and task space for free motion (PID, computed torque,adaptive dynamic control and variable structure control) andconstrained motion (compliant force-position control). * In Chapter 6, the concept of vision-based control isdeveloped and Chapter 7 is devoted to specific issue ofrobots with flexible links. Efficient recursive Newton-Euleralgorithms for both inverse and direct modeling are presented, aswell as control methods ensuring position setting and vibrationdamping.

Autor*in

Etienne Dombre

Themen in »Robot Manipulators«

Control Systems Technology Electrical & Electronics Engineering Elektrotechnik u. Elektronik Regelungstechnik Robotics Robotik

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