Modeling, Identification and Control of Robots
Autor W. Khalil, E. Dombreen Limba Engleză Paperback – 30 iun 2004
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
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Specificații
ISBN-13: 9781903996669
ISBN-10: 190399666X
Pagini: 500
Dimensiuni: 156 x 234 x 34 mm
Greutate: 0.78 kg
Editura: ELSEVIER SCIENCE
ISBN-10: 190399666X
Pagini: 500
Dimensiuni: 156 x 234 x 34 mm
Greutate: 0.78 kg
Editura: ELSEVIER SCIENCE
Public țintă
Recommended as both a student text and a reference work for professional workers in roboticsCuprins
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
modelling
of
parallel
robots.
Dynamic
modelling
of
serial
robots.
Dynamics
of
robots
with
complex
structure.
Geometric
calibration
of
robots.
Identification
of
the
dynamic
parameters.
Trajectory
control.
Motion
control.
Compliant
motion
control.
Appendices.
Recenzii
‘….provides
necessary
tools
to
deal
with
various
problems
that
can
be
encountered
in
the
design,
control
synthesis
and
exploitation
of
robotic
manipulators.
It
can
also
be
recommended
to
students
as
a
texbook.’
—European Mathematical Society
—European Mathematical Society