Khalil W. Modeling and Control of Manipulators. Part-1 Geometric and Kinematic Models

2013-2014 - 210 pages.
Ecole Centrale de Nantes
Nantes/FranceRobots have been widely used with success in various industrial applications.
Since the last two decades, other areas of application have emerged: medical,
service (spatial, civil security, …), transport, underwater, entertainment, and even
providing companionship in the form of artificial “pets” or humanoid robots. We
can distinguish three main classes of robots: robot manipulators, which imitate the
human arm, walking robots, which imitate the locomotion of humans, animals or
insects, mobile robots, which look like cars, and flying robots “drones”.