Modeling Identification and Control of Robots
Author : Wisama Khalil
Publisher : CRC Press
Page : 508 pages
File Size : 24,38 MB
Release : 2002
Category : Robots
ISBN : 9781560329831
Modeling, Identification and Control of Robots
Author : W. Khalil
Publisher : Butterworth-Heinemann
Page : 503 pages
File Size : 43,3 MB
Release : 2004-07-01
Category : Computers
ISBN : 0080536611
Book Description
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 for the control and simulation of robots.·World class authority·Unique range of coverage not available in any other book·Provides a complete course on robotic control at an undergraduate and graduate level
Kinematic Modeling, Identification, and Control of Robotic Manipulators
Author : Henry W. Stone
Publisher : Springer Science & Business Media
Page : 258 pages
File Size : 33,50 MB
Release : 1987-09-30
Category : Technology & Engineering
ISBN : 9780898382372
Book Description
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.
Robotics
Author : Bruno Siciliano
Publisher : Springer Science & Business Media
Page : 644 pages
File Size : 48,83 MB
Release : 2010-08-20
Category : Technology & Engineering
ISBN : 1846286417
Book Description
Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
Kinematic Modeling, Identification, and Control of Robotic Manipulators
Author : Henry W. Stone
Publisher : Springer Science & Business Media
Page : 236 pages
File Size : 21,87 MB
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 1461319994
Book Description
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.
Modelling and Control of Robot Manipulators
Author : Lorenzo Sciavicco
Publisher : Springer Science & Business Media
Page : 391 pages
File Size : 26,67 MB
Release : 2012-12-06
Category : Technology & Engineering
ISBN : 1447104498
Book Description
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 dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
Robot Dynamics And Control
Author : Mark W Spong
Publisher : John Wiley & Sons
Page : 356 pages
File Size : 18,37 MB
Release : 2008-08-04
Category : Robots
ISBN : 9788126517800
Book Description
This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.
Model-Based Control of a Robot Manipulator
Author : Chae H. An
Publisher : MIT Press (MA)
Page : 233 pages
File Size : 50,52 MB
Release : 1988-03-01
Category : Computers
ISBN : 9780262511575
Book Description
The first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control.
Flexible Robot Manipulators
Author : M. Osman Tokhi
Publisher : IET
Page : 579 pages
File Size : 30,11 MB
Release : 2008-05-20
Category : Technology & Engineering
ISBN : 0863414486
Book Description
This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators. Coverage includes an overall review of previously developed methodologies, a range of modelling approaches including classical techniques, parametric and neuromodelling approaches and numerical modelling/simulation techniques.
Introduction to Mobile Robot Control
Author : Spyros G Tzafestas
Publisher : Elsevier
Page : 718 pages
File Size : 17,9 MB
Release : 2013-10-03
Category : Technology & Engineering
ISBN : 0124171036
Book Description
Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. - Clearly and authoritatively presents mobile robot concepts - Richly illustrated throughout with figures and examples - Key concepts demonstrated with a host of experimental and simulation examples - No prior knowledge of the subject is required; each chapter commences with an introduction and background
