Robot Manipulators Modeling, Performance Analysis and Control

Name: Robot Manipulators Modeling, Performance Analysis and Control
Price: 163.49 USD
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ISBN: 9781905209101

ISBN-10: 190520910X

ISBN-13: 9781905209101

Edition: 2007

Authors: Etienne Dombre, Wisama Khalil

List price: $339.95

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Description:

Presenting the most recent research on the state of robot technology, particularly the control of robotic movement, this collection of articles discusses serial and parallel robots, direct- and inverse-geometric and kinetic models, computer architecture for modeling, and the design of mechanical joints. Vision-based control of robots is introduced as a new area of experimentation, and problems with flexible links, position setting, and vibration damping are also analyzed.

Book details

List price: $339.95
Copyright year: 2007
Publisher: John Wiley & Sons, Incorporated
Publication date: 1/30/2007
Binding: Hardcover
Pages: 398
Size: 6.40" wide x 9.55" long x 1.15" tall
Weight: 1.254
Language: English

E. Dombre is Director of Research at the National Centre for Scientific Research (CNRS) and head of the Robotics Department at LIRMM (Laboratoire d'Informatique, de Robotique et de Microï¿½lectronique de Montpellier, UMR CNRS-Universitï¿½ Montpellier II nï¿½ 5

W. Khalil is Professor at the Ecole Centrale at Nantes, France and Head of Department "Systï¿½mes mï¿½caniques et productiques" at IRCCyN (Institut de Recherche en Communication et Cybernï¿½tique de Nantes, UMR CNRS nï¿½ 6597).




Modeling and Identification of Serial Robots




Introduction



Geometric modeling



Geometric description



Direct geometric model



Inverse geometric model



Stating the problem



Principle of Paul's method



Kinematic modeling



Direct kinematic model



Calculation of the Jacobian matrix by derivation of the DGM



Kinematic Jacobian matrix



Decomposition of the kinematic Jacobian matrix into three matrices



Dimension of the operational space of a robot



Inverse kinematic model



General form of the kinematic model



Inverse kinematic model for the regular case



Solution at the proximity of singular positions



Inverse kinematic model of redundant robots



Calibration of geometric parameters



Introduction



Geometric parameters



Geometric parameters of the robot



Parameters of the robot's location



Geometric parameters of the end-effector



Generalized differential model of a robot



Principle of geometric calibration



General form of the calibration model



Identifying the geometric parameters



Solving the identification equations



Calibration methods of geometric parameters



Calibration model by measuring the end-effector location



Autonomous calibration models



Correction of geometric parameters



Dynamic modeling



Lagrange formalism



General form of dynamic equations



Calculation of energy



Properties of the dynamic model



Taking into consideration the friction



Taking into account the inertia of the actuator's rotor



Taking into consideration the forces and moments exerted by the end-effector on its environment



Newton-Euler formalism



Newton-Euler equations linear in the inertial parameters



Practical form of Newton-Euler equations



Determining the base inertial parameters



Identification of dynamic parameters



Introduction



Identification principle of dynamic parameters



Solving method



Identifiable parameters



Choice of identification trajectories



Evaluation of joint coordinates



Evaluation of joint torques



Identification model using the dynamic model



Sequential formulation of the dynamic model



Practical considerations



Conclusion



Bibliography



Modeling of Parallel Robots




Introduction



Characteristics of classic robots



Other types of robot structure



General advantages and disadvantages



Present day uses



Simulators and space applications



Industrial applications



Medical applications



Precise positioning



Machine types



Introduction



Plane robots with three degrees of freedom



Robots moving in space



Manipulators with three degrees of freedom



Manipulators with four or five degrees of freedom



Manipulators with six degrees of freedom



Inverse geometric and kinematic models



Inverse geometric model



Inverse kinematics



Singular configurations



Singularities and statics



State of the art



The geometric method



Maneuverability and condition number



Singularities in practice



Direct geometric model



Iterative method



Algebraic method



Reminder concerning algebraic geometry



Planar robots



Manipulators with six degrees of freedom



Bibliography



Performance Analysis of Robots




Introduction



Accessibility



Various levels of accessibility



Condition of accessibility



Workspace of a robot manipulator



General definition



Space of accessible positions



Primary space and secondary space



Defined orientation workspace



Free workspace



Calculation of the workspace



Concept of aspect



Definition



Mode of aspects calculation



Free aspects



Application of the aspects



Concept of connectivity



Introduction



Characterization of n-connectivity



Characterization of t-connectivity



Local performances



Definition of dexterity



Manipulability



Isotropy index



Lowest singular value



Approach lengths and angles



Conclusion



Bibliography



Trajectory Generation




Introduction



Point-to-point trajectory in the joint space under kinematic constraints



Fifth-order polynomial model



Trapezoidal velocity model



Smoothed trapezoidal velocity model



Point-to-point trajectory in the task-space under kinematic constraints



Trajectory generation under kinodynamic constraints



Problem statement



Constraints



Objective function



Description of the method



Outline



Construction of a random trajectory profile



Handling kinodynamic constraints



Summary



Trapezoidal profiles



Examples



Case of a two dof robot



Optimal free motion planning problem



Optimal motion problem with geometric path constraint



Case of a six dof robot



Optimal free motion planning problem



Optimal motion problem with geometric path constraints



Optimal free motion planning problem with intermediate points



Conclusion



Bibliography



Stochastic Optimization Techniques



Position and Force Control of a Robot in a Free or Constrained Space




Introduction



Free space control



Hypotheses applying to the whole chapter



Complete dynamic modeling of a robot manipulator



Ideal dynamic control in the joint space



Ideal dynamic control in the operational working space



Decentralized control



Sliding mode control



Robust control based on high order sliding mode



Adaptive control



Control in a constrained space



Interaction of the manipulator with the environment



Impedance control



Force control of a mass attached to a spring



Non-linear decoupling in a constrained space



Position/force hybrid control



Parallel structure



External structure



Specificity of the force/torque control



Conclusion



Bibliography



Visual Servoing




Introduction



Modeling visual features



The interaction matrix



Eye-in-hand configuration



Eye-to-hand configuration



Interaction matrix



Interaction matrix of a 2-D point



Interaction matrix of a 2-D geometric primitive



Interaction matrix for complex 2-D shapes



Interaction matrix by learning or estimation



Interaction matrix related to 3-D visual features



Pose estimation



Interaction matrix related to [Theta]u



Interaction matrix related to a 3-D point



Interaction matrix related to a 3-D plane



Task function and control scheme



Obtaining the desired value s*



Regulating the task function



Case where the dimension of s is 6 (k = 6)



Case where the dimension of s is greater than 6 (k > 6)



Hybrid tasks



Virtual links



Hybrid task function



Target tracking



Other exteroceptive sensors



Conclusion



Bibliography



Modeling and Control of Flexible Robots




Introduction



Modeling of flexible robots



Introduction



Generalized Newton-Euler model for a kinematically free elastic body



Definition: formalism of a dynamic model



Choice of formalism



Kinematic model of a free elastic body



Balance principle compatible with the mixed formalism



Virtual power of the field of acceleration quantities



Virtual power of external forces



Virtual power of elastic cohesion forces



Balance of virtual powers



Linear rigid balance in integral form



Angular rigid balance in integral form



Elastic balances in integral form



Linear rigid balance in parametric form



Intrinsic matrix form of the generalized Newton-Euler model



Velocity model of a simple open robotic chain



Acceleration model of a simple open robotic chain



Generalized Newton-Euler model for a flexible manipulator



Extrinsic Newton-Euler model for numerical calculus



Geometric model of an open chain



Recursive calculation of the inverse and direct dynamic models for a flexible robot



Introduction



Recursive algorithm of the inverse dynamic model



Recursive algorithm of the direct dynamic model



Iterative symbolic calculation



Control of flexible robot manipulators



Introduction



Reminder of notations



Control methods



Regulation



Point-to-point movement in fixed time



Trajectory tracking in the joint space



Trajectory tracking in the operational space



Conclusion



Bibliography


List of Authors


Index