Etienne Dombre

A promising long-term evolution of surgery relies on intracorporeal microrobotics. This book reviews the physical and methodological principles, and the scientific challenges to be tackled to design and control such robots. Three orders of magnitude …

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 identifi…