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 identification of the geometric and dynamic parameters of these models.
• Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis.
• Chapter 3...

Automation of linear systems is a fundamental and essential theory. This book deals with the theory of continuous-state automated systems. Part one covers complexity of signals and linear systems, analyzed from the viewpoint of their control. Input - output representations (whose frequency representations form the prototype) and state representations, are the first two axes of analysis. The study of discrete time systems (or those perceived as such through digital control systems) provides a detailed insight into their structural properties. After analysis of determinist and statistical...

Fault tree analysis is an important technique in determining the safety and dependability of complex systems. Fault trees are used as a major tool in the study of system safety as well as in reliability and availability studies. The basic methods - construction, logical analysis, probability evaluation and influence study - are described in this book. The following extensions of fault trees; non-coherent fault trees, fault trees with delay and multi-performance fault trees are explained. Classic algorithms for fault tree analysis are presented, as well as more recent algorithms based on...