Robot Modeling

     Modeling is the first step to design, identify and control the robots. Most efficient algorithms proposed for these applications are based on a good study of the characteristics of robot models.

Modeling of rigid robots   develop ... >>

Modeling of flexible structures for robotics   develop ... >>

Identification of rigid robots and systems with lumped elasticity

     Accurate knowledge of the values of the geometric and inertial parameters as well as electromechanical actuator constants, is essential to any model based control law and off-line programming of robots.

Identifiability and identification of dynamic parameters   develop ... >>

Calibration of geometric parameters   develop ... >>

Robot control

     Control is the principal objective of our modeling and identification work.

Control of rigid robots   develop ... >>

Control of flexible robots   develop ... >>