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Modeling, Identification and Control of Robotsby Wisama Khalil
Synopses & Reviews
Analog Interfacing to Embedded Microprocessors addresses the technologies and methods used in interfacing analog devices to microprocessors, providing in-depth coverage of practical control applications, op amp examples, and much more. A companion to the author's popular Embedded Microprocessor Systems: Real World Design, this new embedded systems book focuses on measurement and control of analog quantities in embedded systems that are required to interface to the real world. At a time when modern electronic systems are increasingly digital, a comprehensive source on interfacing the real world to microprocessors should prove invaluable to embedded systems engineers, students, technicians, and hobbyists. Anyone involved in connecting the analog environment to their digital machines, or troubleshooting such connections will find this book especially useful. Stuart Ball is also the author of Debugging Embedded Microprocessor Systems, both published by Newnes. Additionally, Stuart has written articles for periodicals such as Circuit Cellar INK, Byte, and Modern Electronics.; It provides hard-to-find information on interfacing analog devices and technologies to the purely digital world of embedded microprocessors and gives the reader the insight and perspective of a real embedded systems design engineer, including tips that only a hands-on professional would know. It covers important considerations for both hardware and software systems when linking analog and digital devices.
Written by two of Europe's leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure.
No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required for the control and simulation of robots.
World class authority
Unique range of coverage not available in any other book
Provides a complete course on robotic control at an undergraduate and graduate level
W. Khalil is Professor at the Ecole Centrale at Nantes, France and Head of Department "Systmes m
Table of Contents
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.
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