{"product_id":"9781905209101","title":"Robot Manipulators Modeling, Performance Analysis and Control","description":"\u003ch1\u003eRobot Manipulators\u003c\/h1\u003e\u003ch2\u003eModeling, Performance Analysis and Control\u003c\/h2\u003e\u003ch3\u003eEtienne Dombre | Wisama Khalil\u003c\/h3\u003e\u003cdiv\u003e\u003cb\u003eTechnology \u0026amp; Engineering \/ Robotics\u003c\/b\u003e\u003c\/div\u003e\u003cbr\u003e\u003cdiv\u003eThis book presents the most recent research results on modeling and control of robot manipulators.  \u003cul\u003e \u003cli\u003e\n\u003cb\u003eChapter 1\u003c\/b\u003e gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models.\u003c\/li\u003e \u003cli\u003e\n\u003cb\u003eChapter 2\u003c\/b\u003e describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis.\u003c\/li\u003e \u003cli\u003e\n\u003cb\u003eChapter 3\u003c\/b\u003e introduces global and local tools for performance analysis of serial robots.\u003c\/li\u003e \u003cli\u003e\n\u003cb\u003eChapter 4\u003c\/b\u003e presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics.\u003c\/li\u003e \u003cli\u003e\n\u003cb\u003eChapter 5\u003c\/b\u003e presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control).\u003c\/li\u003e \u003cli\u003eIn \u003cb\u003eChapter 6\u003c\/b\u003e, the concept of vision-based control is developed and \u003cb\u003eChapter 7\u003c\/b\u003e is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.\u003c\/li\u003e \u003c\/ul\u003e\n\u003c\/div\u003e\u003cdiv\u003e  \u003cb\u003eEtienne Dombre\u003c\/b\u003e is Director of Research at the National Centre for Scientific Research (CNRS) and is a researcher within the Laboratoire de Recherche en ’Informatique, Robotique et Microélectronique de Montpellier at the University of Montpellier, France.  \u003cp\u003e\u003cb\u003eWisama Khalil\u003c\/b\u003e is Professor at the Ecole Centrale de Nantes, France, and is a researcher at the Institute of Research in\u003cbr\u003e Communication and Cybernetics.\u003c\/p\u003e\n\u003c\/div\u003e\u003cbr\u003e\u003ctable\u003e\n\u003ctr\u003e\n\u003ctd\u003ePublication Date: \u003c\/td\u003e\n\u003ctd\u003e30 January 2007\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ePublisher: \u003c\/td\u003e\n\u003ctd\u003eWiley\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eImprint: \u003c\/td\u003e\n\u003ctd\u003eWiley-ISTE\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eISBN-13: \u003c\/td\u003e\n\u003ctd\u003e9781905209101\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eFormat: \u003c\/td\u003e\n\u003ctd\u003eHardback\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ePage Count: \u003c\/td\u003e\n\u003ctd\u003e398\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eWeight (oz): \u003c\/td\u003e\n\u003ctd\u003e20.0\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/table\u003e","brand":"Wiley","offers":[{"title":"Default Title","offer_id":44377637585036,"sku":"9781905209101","price":305.96,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0710\/9545\/1788\/files\/9781905209101_ce88ed7e-3923-4814-9541-cbd351c245ca.jpg?v=1780154524","url":"https:\/\/fh90cf-fv.myshopify.com\/products\/9781905209101","provider":"Late Knight Books and Services, LLC","version":"1.0","type":"link"}