1 The rigid body: configuration and motion. - The configuration of a rigid body. - Variations in position: velocities. - Orientation and variations in orientation. - Finding the configuration using the helical method. - Positional errors. - 2 Definition and measurement of precision: operation-performance relationship. - Precision. - Robot operation and repeatability. - Protocol for the measurement of precision. - Some examples of test methods. - Conclusions. - 3 Introduction to dynamics. - General points. - Equations of motion. - Use of dynamic equations. - Concepts relating to elastic deformation and the dissipation of energy. - Localized deformations in mechanical transmission devices. - Jordan's canonic form: controllability and observability. - The effect of flexion on robot performance. - 4 Structure of robots: geometrical and mechanical constraints. - The place of geometrical modeling in the production process. - The geometrical elements. - Constraints mechanisms and operations. - Conclusions. - 5 Three-dimensional models of static performances. - General geometrical capabilities. - Work volumes for specified operations. - Force capacity. - Modelling static errors. - Conclusions. - 6 Analysis generation and optimization of movements. - Continuous path control. - Point-to-point control. - Conclusions. - 7 The dynamic behaviour of robots: characterization and use of models. - The importance of dynamic models. - Development of the model using Lagrange equations. - Models using general theorems. - Are models indispensable?. - References. Language: English