Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure.
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.

About the Authors

W. Khalil is Professor at the Ecole Centrale at Nantes, France and Head of Department "Syst�mes m�caniques et productiques" at IRCCyN (Institut de Recherche en Communication et Cybern�tique de Nantes, UMR CNRS n� 6597).

E. Dombre is Director of Research at the National Centre for Scientific Research (CNRS) and head of the Robotics Department at LIRMM (Laboratoire d'Informatique, de Robotique et de Micro�lectronique de Montpellier, UMR CNRS-Universit� Montpellier II n� 5506

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