Robot Manipulators: Modeling, Performance Analysis and Control

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.

Index.