This book presents the most recent research results on modeling and
control of robot manipulators.
* 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.
* 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.
* Chapter 3 introduces global and local tools for
performance analysis of serial robots.
* Chapter 4 presents an original optimization technique
for point-to-point trajectory generation accounting for robot
dynamics.
* 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).
* 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.
