Modeling, Identification & Control of Robots

1. Terminology and general definitions 2. Transformation matrix between vectors, frames and screws 3. Direct geometric model of serial robots 4. Inverse geometric model of serial robots 5. Direct kinematic model of serial robots 6. Inverse kinematic model of serial robots 7. Geometric and kinematic models of complex chain robots 8. Introduction to geometric and kinematic modeling of parallel robots 9. Dynamic modeling of serial robots 10. Dynamics of robots with complex structure 11. Geometric calibration of robots 12. Identification of the dynamic parameters 13. Trajectory generation 14. Motion control 15. Compliant motion control. Appendices: Solutions of equations of the inverse geometric model Inverse robot Dyalitic elimination Solution of systems of linear equations Numerical computation of the base parameters Recursive equations between the energy functions Dynamic model of the Staubli RX-90 robot Computation of the inertia matrix of tree structured robots Stability analysis using Lyapunov theory Computation of the dynamic control law in the task space Stability of passive systems Bibliography Index