Robot Manipulators
Modeling, Performance Analysis and Control
Erschienen am 1. März 2013
398 Seiten
978-1-118-61410-5 (ISBN)
Beschreibung
This book presents the most recent research results on modeling andcontrol of robot manipulators.
* Chapter 1 gives unified tools to derive direct andinverse geometric, kinematic and dynamic models of serial robotsand addresses the issue of identification of the geometric anddynamic parameters of these models.
* Chapter 2 describes the main features of serial robots,the different architectures and the methods used to obtain directand inverse geometric, kinematic and dynamic models, paying specialattention to singularity analysis.
* Chapter 3 introduces global and local tools forperformance analysis of serial robots.
* Chapter 4 presents an original optimization techniquefor point-to-point trajectory generation accounting for robotdynamics.
* Chapter 5 presents standard control techniques in thejoint space and task space for free motion (PID, computed torque,adaptive dynamic control and variable structure control) andconstrained motion (compliant force-position control).
* In Chapter 6, the concept of vision-based control isdeveloped and Chapter 7 is devoted to specific issue ofrobots with flexible links. Efficient recursive Newton-Euleralgorithms for both inverse and direct modeling are presented, aswell as control methods ensuring position setting and vibrationdamping.
Weitere Details
Weitere Ausgaben
Personen
Etienne Dombre is Director of Research at the NationalCentre for Scientific Research (CNRS) and is a researcher withinthe Laboratoire de Recherche en 'Informatique, Robotique etMicroélectronique de Montpellier at the University ofMontpellier, France.
Wisama Khalil is Professor at the Ecole Centrale deNantes, France, and is a researcher at the Institute of Researchin
Communication and Cybernetics.
Inhalt
Chapter 1. Modeling and Identification of SerialRobots (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 ParallelRobots (Jean-Pierre MERLET and FrançoisPIERROT).
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 ofRobots (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 underkinematic constraints.
4.3. Point-to-point trajectory in the task-space under kinematicconstraints.
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 orConstrained Space (Pierre DAUCHEZ and PhilippeFRAISSE).
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 (FrançoisCHAUMETTE).
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 FlexibleRobots (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.
Index.
