Synopsis
Khalil (mechanical and production systems, Institut de Recherche en Communication et CybernTtique de Nantes, France) and Dombre (robotics, U. Montpellier, France) explain the mathematical modeling tools (geometric, kinematic, and dynamic) used in relation to the control and simulation of robots. Separate chapters discuss direct geometric modeling of simple open chain robots, inverse geometric models, the direct kinematic model, and inverse kinematics. Those models are also explored in relation to complex chain and parallel robots. Final chapters look at dynamic modeling, identification of geometric and dynamic parameters, the problem of trajectory generation, and motion and force control. This is a revised and augmented edition of the French work ModTlisation, identification et commande des robots (1999). Annotation c. Book News, Inc., Portland, OR (booknews.com)
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About the Author
Wisama Khalil is a Professor at the Ecole Centrale de Nantes, France. He is the Head of the Department 'Systèmes mécaniques et productiques' of the IRRCCyN (Institut de Recherche en Communication et Cybernètique de Nantes, UMR CNRS #6597)
Etienne Dombre is a research Director at CNRS (Centre National de Recherche Scientifique). He is head of the Robotics Department of the LIRMM (Laboratorie d'Informatique, de Robotique at Microélectronique de Montpellier; UMR CNRS-Université Montpellier II #5506).
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