{"product_id":"robot-manipulators-modeling-performance-analysis-and-control-hardback-9781905209101","title":"Robot Manipulators; Modeling, Performance Analysis and Control (Hardback) 9781905209101","description":"\u003cfont face=\"Georgia\"\u003e\r\n\u003cp\u003e\u003cfont size=\"6\"\u003eRobot Manipulators\u003c\/font\u003e\u003cbr\u003e\r\n\u003cfont size=\"5\"\u003eModeling, Performance Analysis and Control\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\r\n\r\n\r\n\u003cp\u003e\u003cfont size=\"4\"\u003eEtienne Dombre (Edited by), E Dombre (Author), Wisama Khalil (Edited by)\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\u003cp\u003e\u003cfont size=\"3\"\u003e9781905209101, Wiley\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\u003cp\u003e\u003cfont size=\"3\"\u003eHardback, published 14 January 2007\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\u003cp\u003e\u003cfont size=\"3\"\u003e398 pages\u003cbr\u003e24.3 x 16.3 x 2.9 cm, 0.567 kg\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\r\n\r\n\r\n\r\n\u003cp align=\"justify\"\u003e\u003cstrong\u003e\u003cfont size=\"3\"\u003eThis book presents the most recent research results on modeling and control of robot manipulators.  \u003cul\u003e \u003cli\u003e\n\u003cb\u003eChapter 1\u003c\/b\u003e 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.\u003c\/li\u003e \u003cli\u003e\n\u003cb\u003eChapter 2\u003c\/b\u003e 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.\u003c\/li\u003e \u003cli\u003e\n\u003cb\u003eChapter 3\u003c\/b\u003e introduces global and local tools for performance analysis of serial robots.\u003c\/li\u003e \u003cli\u003e\n\u003cb\u003eChapter 4\u003c\/b\u003e presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics.\u003c\/li\u003e \u003cli\u003e\n\u003cb\u003eChapter 5\u003c\/b\u003e 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).\u003c\/li\u003e \u003cli\u003eIn \u003cb\u003eChapter 6\u003c\/b\u003e, the concept of vision-based control is developed and \u003cb\u003eChapter 7\u003c\/b\u003e 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.\u003c\/li\u003e \u003c\/ul\u003e\u003c\/font\u003e\u003c\/strong\u003e\u003c\/p\u003e\r\n\r\n\u003cp\u003e\u003cfont size=\"3\"\u003e\u003cb\u003eChapter 1. Modeling and Identification of Serial Robots\u003c\/b\u003e (\u003ci\u003eWisama KHALIL and Etienne DOMBRE\u003c\/i\u003e).  \u003cp\u003e1.1. Introduction.\u003c\/p\u003e \u003cp\u003e1.2. Geometric modeling.\u003c\/p\u003e \u003cp\u003e1.3. Kinematic modeling.\u003c\/p\u003e \u003cp\u003e1.4. Calibration of geometric parameters.\u003c\/p\u003e \u003cp\u003e1.5. Dynamic modeling.\u003c\/p\u003e \u003cp\u003e1.6. Identification of dynamic parameters.\u003c\/p\u003e \u003cp\u003e1.7. Conclusion.\u003c\/p\u003e \u003cp\u003e1.8. Bibliography.\u003c\/p\u003e \u003cp\u003e\u003cb\u003eChapter 2. Modeling of Parallel Robots\u003c\/b\u003e (\u003ci\u003eJean-Pierre MERLET and François PIERROT\u003c\/i\u003e).\u003c\/p\u003e \u003cp\u003e2.1. Introduction.\u003c\/p\u003e \u003cp\u003e2.2. Machine types.\u003c\/p\u003e \u003cp\u003e2.3. Inverse geometric and kinematic models.\u003c\/p\u003e \u003cp\u003e2.4. Direct geometric model.\u003c\/p\u003e \u003cp\u003e2.5. Bibliography.\u003c\/p\u003e \u003cp\u003e\u003cb\u003eChapter 3. Performance Analysis of Robots\u003c\/b\u003e (\u003ci\u003ePhilippe WENGER\u003c\/i\u003e).\u003c\/p\u003e \u003cp\u003e3.1. Introduction.\u003c\/p\u003e \u003cp\u003e3.2. Accessibility.\u003c\/p\u003e \u003cp\u003e3.3. Workspace of a robot manipulator.\u003c\/p\u003e \u003cp\u003e3.4. Concept of aspect.\u003c\/p\u003e \u003cp\u003e3.5. Concept of connectivity.\u003c\/p\u003e \u003cp\u003e3.6. Local performances.\u003c\/p\u003e \u003cp\u003e3.7. Conclusion.\u003c\/p\u003e \u003cp\u003e3.8. Bibliography.\u003c\/p\u003e \u003cp\u003e\u003cb\u003eChapter 4. Trajectory Generation\u003c\/b\u003e (\u003ci\u003eMoussa HADDAD, Taha CHETTIBI, Wisama KHALIL and Halim LEHTIHET\u003c\/i\u003e).\u003c\/p\u003e \u003cp\u003e4.1. Introduction.\u003c\/p\u003e \u003cp\u003e4.2. Point-to-point trajectory in the joint space under kinematic constraints.\u003c\/p\u003e \u003cp\u003e4.3. Point-to-point trajectory in the task-space under kinematic constraints.\u003c\/p\u003e \u003cp\u003e4.4. Trajectory generation under kinodynamic constraints.\u003c\/p\u003e \u003cp\u003e.4.5. Examples.\u003c\/p\u003e \u003cp\u003e.4.6. Conclusion.\u003c\/p\u003e \u003cp\u003e4.7. Bibliography.\u003c\/p\u003e \u003cp\u003eAppendix: Stochastic Optimization Techniques.\u003c\/p\u003e \u003cp\u003e\u003cb\u003eChapter 5. Position and Force Control of a Robot in a Free or Constrained Space\u003c\/b\u003e (\u003ci\u003ePierre DAUCHEZ and Philippe FRAISSE\u003c\/i\u003e).\u003c\/p\u003e \u003cp\u003e5.1. Introduction.\u003c\/p\u003e \u003cp\u003e5.2. Free space control.\u003c\/p\u003e \u003cp\u003e5.3. Control in a constrained space.\u003c\/p\u003e \u003cp\u003e5.4. Conclusion.\u003c\/p\u003e \u003cp\u003e5.5. Bibliography.\u003c\/p\u003e \u003cp\u003e\u003cb\u003eChapter 6. Visual Servoing\u003c\/b\u003e (\u003ci\u003eFrançois CHAUMETTE\u003c\/i\u003e).\u003c\/p\u003e \u003cp\u003e6.1. Introduction.\u003c\/p\u003e \u003cp\u003e6.2. Modeling visual features.\u003c\/p\u003e \u003cp\u003e6.3. Task function and control scheme.\u003c\/p\u003e \u003cp\u003e6.4. Other exteroceptive sensors.\u003c\/p\u003e \u003cp\u003e6.5. Conclusion.\u003c\/p\u003e \u003cp\u003e6.6. Bibliography.\u003c\/p\u003e \u003cp\u003e\u003cb\u003eChapter 7. Modeling and Control of Flexible Robots\u003c\/b\u003e (\u003ci\u003eFrédéric BOYER, Wisama KHALIL, Mouhacine BENOSMAN and George LEVEY\u003c\/i\u003e).\u003c\/p\u003e \u003cp\u003e7.1. Introduction.\u003c\/p\u003e \u003cp\u003e7.2. Modeling of flexible robots.\u003c\/p\u003e \u003cp\u003e7.3. Control of flexible robot manipulators.\u003c\/p\u003e \u003cp\u003e7.4. Conclusion.\u003c\/p\u003e \u003cp\u003e7.5. Bibliography.\u003c\/p\u003e \u003cp\u003e\u003cb\u003eList of Authors.\u003c\/b\u003e\u003c\/p\u003e \u003cp\u003e\u003cb\u003eIndex.\u003c\/b\u003e\u003c\/p\u003e\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\u003cp\u003e\u003cfont size=\"3\"\u003eSubject Areas: Electronics \u0026amp; communications engineering [\u003ca title=\"See our other books on Electronics \u0026amp; communications engineering\" href=\"https:\/\/freshlyprintedbooks.co.uk\/search?q=%22Electronics%20\u0026amp;%20communications%20engineering%20%5BTJ%5D%22\"\u003eTJ\u003c\/a\u003e]\u003c\/font\u003e\u003c\/p\u003e\r\n\r\n\r\n\u003c\/font\u003e","brand":"Wiley-ISTE","offers":[{"title":"Brand New","offer_id":52449439285528,"sku":"9781905209101","price":185.28,"currency_code":"GBP","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0730\/2037\/5320\/files\/9781905209101.jpg?v=1785199379","url":"https:\/\/freshlyprintedbooks.co.uk\/products\/robot-manipulators-modeling-performance-analysis-and-control-hardback-9781905209101","provider":"Freshly Printed Books","version":"1.0","type":"link"}