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Robot Manipulators: Modeling, Performance Analysis and Control

Etienne Dombre (Editor), Wisama Khalil (Editor)
ISBN: 978-1-905209-10-1
398 pages
January 2007, Wiley-ISTE
Robot Manipulators: Modeling, Performance Analysis and Control (190520910X) cover image


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, paying special attention to singularity analysis.
  • Chapter 3 introduces global and local tools for performance analysis of serial robots.
  • Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics.
  • Chapter 5 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).
  • In Chapter 6, the concept of vision-based control is developed and Chapter 7 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.
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Table of Contents

Chapter 1. Modeling and Identification of Serial Robots (Wisama KHALIL and Etienne DOMBRE).

1.1. Introduction.

1.2. Geometric modeling.

1.3. Kinematic modeling.

1.4. Calibration of geometric parameters.

1.5. Dynamic modeling.

1.6. Identification of dynamic parameters.

1.7. Conclusion.

1.8. Bibliography.

Chapter 2. Modeling of Parallel Robots (Jean-Pierre MERLET and François PIERROT).

2.1. Introduction.

2.2. Machine types.

2.3. Inverse geometric and kinematic models.

2.4. Direct geometric model.

2.5. Bibliography.

Chapter 3. Performance Analysis of Robots (Philippe WENGER).

3.1. Introduction.

3.2. Accessibility.

3.3. Workspace of a robot manipulator.

3.4. Concept of aspect.

3.5. Concept of connectivity.

3.6. Local performances.

3.7. Conclusion.

3.8. Bibliography.

Chapter 4. Trajectory Generation (Moussa HADDAD, Taha CHETTIBI, Wisama KHALIL and Halim LEHTIHET).

4.1. Introduction.

4.2. Point-to-point trajectory in the joint space under kinematic constraints.

4.3. Point-to-point trajectory in the task-space under kinematic constraints.

4.4. Trajectory generation under kinodynamic constraints.

.4.5. Examples.

.4.6. Conclusion.

4.7. Bibliography.

Appendix: Stochastic Optimization Techniques.

Chapter 5. Position and Force Control of a Robot in a Free or Constrained Space (Pierre DAUCHEZ and Philippe FRAISSE).

5.1. Introduction.

5.2. Free space control.

5.3. Control in a constrained space.

5.4. Conclusion.

5.5. Bibliography.

Chapter 6. Visual Servoing (François CHAUMETTE).

6.1. Introduction.

6.2. Modeling visual features.

6.3. Task function and control scheme.

6.4. Other exteroceptive sensors.

6.5. Conclusion.

6.6. Bibliography.

Chapter 7. Modeling and Control of Flexible Robots (Frédéric BOYER, Wisama KHALIL, Mouhacine BENOSMAN and George LEVEY).

7.1. Introduction.

7.2. Modeling of flexible robots.

7.3. Control of flexible robot manipulators.

7.4. Conclusion.

7.5. Bibliography.

List of Authors.


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Author Information

Etienne Dombre is Director of Research at the National Centre for Scientific Research (CNRS) and is a researcher within the Laboratoire de Recherche en ’Informatique, Robotique et Microélectronique de Montpellier at the University of Montpellier, France.

Wisama Khalil is Professor at the Ecole Centrale de Nantes, France, and is a researcher at the Institute of Research in
Communication and Cybernetics.

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