Modeling, identification & control of robots - Khalil, W., (Wisama) (Kogan Page Science, 2004)
Originally published: London : HPS, 2002
Includes bibliographical references (p. [447]-473) and index
Terminology and general definitions -- Transformation matrix between vectors, frames and screws -- Direct geometric model of serial robots -- Inverse geometric model of serial robots -- Direct kinematic model of serial robots -- Inverse kinematic model of serial robots -- Geometric and kinematic models of complex chain robots -- Introduction to geometric and kinematic modeling of parallel robots -- Dynamic modeling of serial robots -- Dynamics of robots with complex structure -- Geometric calibration of robots -- Identification of the dynamic parameters -- Trajectory generation -- Motion control -- Compliant motion control