TY  - BOOK
AU  - Dombre,E.
AU  - Khalil,W.
ED  - Wiley InterScience (Online service)
TI  - Modeling, performance analysis and control of robot manipulators
T2  - Control systems, robotics and manufacturing series
SN  - 9780470612286
AV  - TJ211 .M63 2010EBK
PY  - 2010///
CY  - London, Newport Beach, CA
PB  - ISTE
KW  - Robotics
KW  - Manipulators (Mechanism)
KW  - TECHNOLOGY & ENGINEERING
KW  - Automation
KW  - bisacsh
KW  - fast
KW  - Electronic books
KW  - local
N1  - BIBINDX; Modeling and identification of serial robots / Wisama Khalil and Etienne Dombre -- Modeling of parallel robots / Jean-Pierre Merlet and François Pierrot -- Performance analysis of robots / Philippe Wenger -- Trajectory generation / Moussa Haddad [and others] -- Position and force control of a robot in a free or constrained space / Pierre Dauchez and Philippe Fraisse -- Visual servoing / François Chaumette
N2  - 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 with special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysi
UR  - https://doi.org/10.1002/9780470612286
ER  -