Kinematic Modeling Identification and Control of Robotic Manipulators

The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance.

Kinematic Modeling  Identification  and Control of Robotic Manipulators

The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance. The positioning accuracy of commercially-available industrial robotic manipulators depends upon a kinematic model which describes the robot geometry in a parametric form. Manufacturing error in the machining and assembly of manipulators lead to discrepancies between the design parameters and the physical structure. Improving the kinematic perfor mance thus requires the identification of the actual kinematic parameters of each individual robot. The identified kinematic parameters are referred to as the arm signature. Existing robot kinematic models, such as the Denavit-Hartenberg model, are not directly applicable to kinematic parameter identification. In this dissertation we introduce a new kinematic model, called the 5-Model, which is applicable to kinematic parameter identification, and use it as the foundation for our development of a general technique for identifying the kinematic parameters of any robot with rigid links.

More Books:

Kinematic Modeling, Identification, and Control of Robotic Manipulators
Language: en
Pages: 224
Authors: Henry W. Stone
Categories: Technology & Engineering
Type: BOOK - Published: 1987-09-30 - Publisher: Springer Science & Business Media

The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance. The positioning accuracy of commercially-available industrial robotic manipulators depends upon a kinematic model which describes the robot geometry in
Kinematic Modeling, Identification, and Control of Robotic Manipulators
Language: en
Pages: 224
Authors: Henry W. Stone
Categories: Kinematics
Type: BOOK - Published: 1987 - Publisher:

Books about Kinematic Modeling, Identification, and Control of Robotic Manipulators
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Language: en
Pages: 500
Authors: W. Khalil, E. Dombre
Categories: Technology & Engineering
Type: BOOK - Published: 2004-07-01 - Publisher: Butterworth-Heinemann

Written by two of Europe’s leading robotics experts, this book provides the tools for a unified approach to the modelling of robotic manipulators, whatever their mechanical structure. No other publication covers the three fundamental issues of robotics: modelling, identification and control. It covers the development of various mathematical models required
Modelling and Control of Robot Manipulators
Language: en
Pages: 378
Authors: Lorenzo Sciavicco, Bruno Siciliano
Categories: Technology & Engineering
Type: BOOK - Published: 2012-12-06 - Publisher: Springer Science & Business Media

Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and
Vision Based Identification and Force Control of Industrial Robots
Language: en
Pages:
Authors: Abdullah Aamir Hayat
Categories: Technology & Engineering
Type: BOOK - Published: - Publisher: Springer Nature

Books about Vision Based Identification and Force Control of Industrial Robots