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05428cam a2200433 a 4500 |
| 001 - CONTROL NUMBER |
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14576398 |
| 003 - CONTROL NUMBER IDENTIFIER |
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CITU |
| 005 - DATE AND TIME OF LATEST TRANSACTION |
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| control field |
20210324020256.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION |
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| fixed length control field |
060929s2007 enka b 001 0 eng |
| 010 ## - LIBRARY OF CONGRESS CONTROL NUMBER |
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| LC control number |
2006032328 |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER |
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| International Standard Book Number |
9780470612286 |
| 035 ## - SYSTEM CONTROL NUMBER |
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| System control number |
(OCoLC)ocm72161809 |
| 035 ## - SYSTEM CONTROL NUMBER |
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| System control number |
(OCoLC)72161809 |
| 040 ## - CATALOGING SOURCE |
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| Original cataloging agency |
DLC |
| Transcribing agency |
DLC |
| Modifying agency |
YDX |
| -- |
BAKER |
| -- |
BTCTA |
| -- |
YDXCP |
| -- |
DLC |
| 050 00 - LIBRARY OF CONGRESS CALL NUMBER |
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| Classification number |
TJ211 |
| Item number |
.M626 2007 |
| 082 00 - DEWEY DECIMAL CLASSIFICATION NUMBER |
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| Classification number |
629.8/933 |
| Edition number |
22 |
| 245 00 - TITLE STATEMENT |
|---|
| Title |
Modeling, performance analysis and control of robot manipulators / |
| Statement of responsibility, etc |
edited by Etienne Dombre, Wisama Khalil. |
| 246 14 - VARYING FORM OF TITLE |
|---|
| Title proper/short title |
Robot manipulators : |
| Remainder of title |
modeling, performance analysis and control |
| 264 ## - PUBLICATION, DISTRIBUTION, ETC. (IMPRINT) |
|---|
| Place of publication, distribution, etc |
Newport Beach, CA : |
| Name of publisher, distributor, etc |
ISTE, |
| Date of publication, distribution, etc |
2007 |
| 300 ## - PHYSICAL DESCRIPTION |
|---|
| Extent |
1 online resource : |
| Other physical details |
illustrations |
| 336 ## - CONTENT TYPE |
|---|
| Content type term |
text |
| Content type code |
txt |
| Source |
rdacontent |
| 337 ## - MEDIA TYPE |
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| Media type term |
computer |
| Media type code |
n |
| Source |
rdamedia |
| 338 ## - CARRIER TYPE |
|---|
| Carrier type term |
online resource |
| Source |
rdacarrier |
| 490 0# - SERIES STATEMENT |
|---|
| Series statement |
Control systems, robotics and manufacturing series |
| 500 ## - GENERAL NOTE |
|---|
| General note |
ABOUT THE AUTHOR<br/>Etienne Dombre 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.<br/>Wisama Khalil is Professor at the Ecole Centrale de Nantes, France, and is a researcher at the Institute of Research in<br/>Communication and Cybernetics. |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE |
|---|
| Bibliography, etc |
Includes bibliographical references and index. |
| 505 ## - CONTENTS |
|---|
| Formatted contents note |
TABLE OF CONTENTS<br/>Chapter 1. Modeling and Identification of Serial Robots (Wisama KHALIL and Etienne DOMBRE).<br/>1.1. Introduction.<br/><br/>1.2. Geometric modeling.<br/><br/>1.3. Kinematic modeling.<br/><br/>1.4. Calibration of geometric parameters.<br/><br/>1.5. Dynamic modeling.<br/><br/>1.6. Identification of dynamic parameters.<br/><br/>1.7. Conclusion.<br/><br/>1.8. Bibliography.<br/><br/>Chapter 2. Modeling of Parallel Robots (Jean-Pierre MERLET and François PIERROT).<br/><br/>2.1. Introduction.<br/><br/>2.2. Machine types.<br/><br/>2.3. Inverse geometric and kinematic models.<br/><br/>2.4. Direct geometric model.<br/><br/>2.5. Bibliography.<br/><br/>Chapter 3. Performance Analysis of Robots (Philippe WENGER).<br/><br/>3.1. Introduction.<br/><br/>3.2. Accessibility.<br/><br/>3.3. Workspace of a robot manipulator.<br/><br/>3.4. Concept of aspect.<br/><br/>3.5. Concept of connectivity.<br/><br/>3.6. Local performances.<br/><br/>3.7. Conclusion.<br/><br/>3.8. Bibliography.<br/><br/>Chapter 4. Trajectory Generation (Moussa HADDAD, Taha CHETTIBI, Wisama KHALIL and Halim LEHTIHET).<br/><br/>4.1. Introduction.<br/><br/>4.2. Point-to-point trajectory in the joint space under kinematic constraints.<br/><br/>4.3. Point-to-point trajectory in the task-space under kinematic constraints.<br/><br/>4.4. Trajectory generation under kinodynamic constraints.<br/><br/>.4.5. Examples.<br/><br/>.4.6. Conclusion.<br/><br/>4.7. Bibliography.<br/><br/>Appendix: Stochastic Optimization Techniques.<br/><br/>Chapter 5. Position and Force Control of a Robot in a Free or Constrained Space (Pierre DAUCHEZ and Philippe FRAISSE).<br/><br/>5.1. Introduction.<br/><br/>5.2. Free space control.<br/><br/>5.3. Control in a constrained space.<br/><br/>5.4. Conclusion.<br/><br/>5.5. Bibliography.<br/><br/>Chapter 6. Visual Servoing (François CHAUMETTE).<br/><br/>6.1. Introduction.<br/><br/>6.2. Modeling visual features.<br/><br/>6.3. Task function and control scheme.<br/><br/>6.4. Other exteroceptive sensors.<br/><br/>6.5. Conclusion.<br/><br/>6.6. Bibliography.<br/><br/>Chapter 7. Modeling and Control of Flexible Robots (Frédéric BOYER, Wisama KHALIL, Mouhacine BENOSMAN and George LEVEY).<br/><br/>7.1. Introduction.<br/><br/>7.2. Modeling of flexible robots.<br/><br/>7.3. Control of flexible robot manipulators.<br/><br/>7.4. Conclusion.<br/><br/>7.5. Bibliography.<br/><br/>List of Authors.<br/><br/>Index. |
| 520 ## - SUMMARY, ETC. |
|---|
| Summary, etc |
DESCRIPTION<br/>This book presents the most recent research results on modeling and control of robot manipulators.<br/>Chapter 1 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.<br/>Chapter 2 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.<br/>Chapter 3 introduces global and local tools for performance analysis of serial robots.<br/>Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics.<br/>Chapter 5 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).<br/>In Chapter 6, the concept of vision-based control is developed and Chapter 7 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. |
| 526 ## - STUDY PROGRAM INFORMATION NOTE |
|---|
| -- |
600-699 |
| -- |
620 |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name as entry element |
Robotics. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM |
|---|
| Topical term or geographic name as entry element |
Manipulators (Mechanism) |
| 655 #4 - INDEX TERM--GENRE/FORM |
|---|
| Genre/form data or focus term |
Electronic books |
| 700 1# - ADDED ENTRY--PERSONAL NAME |
|---|
| Personal name |
Dombre, E. |
| Fuller form of name |
(Etienne) |
| 700 1# - ADDED ENTRY--PERSONAL NAME |
|---|
| Personal name |
Khalil, W. |
| Fuller form of name |
(Wisama) |
| 856 41 - ELECTRONIC LOCATION AND ACCESS |
|---|
| Link text |
Full text available at Wiley Online Library Click here to view |
| Uniform Resource Identifier |
https://onlinelibrary.wiley.com/doi/book/10.1002/9780470612286 |
| 906 ## - LOCAL DATA ELEMENT F, LDF (RLIN) |
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7 |
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orignew |
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20 |
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y-gencatlg |
| 942 ## - ADDED ENTRY ELEMENTS |
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| Source of classification or shelving scheme |
|
| Item type |
EBOOK |