Modelling and Control of Robot Manipulators

Fundamental and technological topics are blended uniquely and developed clearly in nine chapters - with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step.

1. Introduction.- 1.1 Robotics.- 1.2 Industrial Robot.- 1.3 Manipulator Structures.- 1.4 Modelling and Control of Robot Manipulators.- 1.5 Bibliographical Reference Texts.- 2. Kinematics.- 2.1 Position and Orientation of a Rigid Body.- 2.2 Rotation Matrix.- 2.3 Composition of Rotation Matrices.- 2.4 Euler Angles.- 2.5 Angle and Axis.- 2.6 Unit Quaternion.- 2.7 Homogeneous Transformations.- 2.8 Direct Kinematics.- 2.9 Kinematics of Typical Manipulator Structures.- 2.10 Joint Space and Operational Space.- 2.11 Kinematic Calibration.- 2.12 Inverse Kinematics Problem.- 3. Differential Kinematics and Statics.- 3.1 Geometric Jacobian.- 3.2 Jacobian of Typical Manipulator Structures.- 3.3 Kinematic Singularities.- 3.4 Analysis of Redundancy.- 3.5 Differential Kinematics Inversion.- 3.6 Analytical Jacobian.- 3.7 Inverse Kinematics Algorithms.- 3.8 Statics.- 3.9 Manipulability Ellipsoids.- 4. Dynamics.- 4.1 Lagrange Formulation.- 4.2 Notable Properties of Dynamic Model.- 4.3 Dynamic Model of Simple Manipulator Structures.- 4.4 Dynamic Parameter Identification.- 4.5 Newton-Euler Formulation.- 4.6 Direct Dynamics and Inverse Dynamics.- 4.7 Operational Space Dynamic Model.- 4.8 Dynamic Manipulability Ellipsoid.- 5. Trajectory Planning.- 5.1 Path and Trajectory.- 5.2 Joint Space Trajectories.- 5.3 Operational Space Trajectories.- 5.4 Dynamic Scaling of Trajectories.- 6. Motion Control.- 6.1 The Control Problem.- 6.2 Joint Space Control.- 6.3 Independent Joint Control.- 6.4 Computed Torque Feedforward Control.- 6.5 Centralized Control.- 6.6 Operational Space Control.- 6.7 A Comparison Between Various Control Schemes.- 7. Interaction Control.- 7.1 Manipulator Interaction with Environment.- 7.2 Compliance Control.- 7.3 Impedance Control.- 7.4 Force Control.- 7.5 Natural Constraints andArtificial Constraints.- 7.6 Hybrid Force/Position Control.- 8. Actuators and Sensors.- 8.1 Joint Actuating System.- 8.2 Servomotors.- 8.3 Sensors.- 9. Control Architecture.- 9.1 Functional Architecture.- 9.2 Programming Environment.- 9.3 Hardware Architecture.- Appendix A. Linear Algebra.- A.1 Definitions.- A.2 Matrix Operations.- A.3 Vector Operations.- A.4 Linear Transformations.- A.5 Eigenvalues and Eigenvectors.- A.6 Bilinear Forms and Quadratic Forms.- A.7 Pseudo-inverse.- A.8 Singular Value Decomposition.- Appendix B. Rigid Body Mechanics.- B.1 Kinematics.- B.2 Dynamics.- B.3 Work and Energy.- B.4 Constrained Systems.- Appendix C. Feedback Control.- C.1 Control of Single-input/Single-output Linear Systems.- C.2 Control of Nonlinear Mechanical Systems.- C.3 Lyapunov Direct Method.