Publisher's Synopsis
The control and simulation of robots require the development of various mathematical models. Several levels of modelling - geometric, kinematic and dynamic - are needed according to the objectives, the constraints of the task and the desired performance. Obtaining these different models is not an easy task. The difficulty is varied according to the complexity of the kinematics of the mechanical structure and its degrees of freedom. The mathematical tools presented in this book are based on a description of mechanisms allowing a unified approach whatever the type of structure: serial, tree structured or containing closed loops.;Using these models in control or simulation requires estimating the values of geometric and dynamic parameters. Various methods to identify them are presented. The problem of trajectory generation is also addressed in detail. Finally, several motion control and force control schemes are discussed, keeping in mind the constraint of online implementation which requires efficient models with a reduced number of operations.
