Bibliothèque de L'IMIST/CNRST

Originally published: London : HPS, 2002.

Includes bibliographical references (p. [447]-473) and index.

Terminology and general definitions -- Transformation matrix between vectors, frames and screws -- Direct geometric model of serial robots -- Inverse geometric model of serial robots -- Direct kinematic model of serial robots -- Inverse kinematic model of serial robots -- Geometric and kinematic models of complex chain robots -- Introduction to geometric and kinematic modeling of parallel robots -- Dynamic modeling of serial robots -- Dynamics of robots with complex structure -- Geometric calibration of robots -- Identification of the dynamic parameters -- Trajectory generation -- Motion control -- Compliant motion control.

Written by two of Europes 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.

Description based on print version record.