Robot Manipulators

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.