Modeling Identification and Control of Robots
Author : Wisama Khalil
Publisher : CRC Press
Page : 508 pages
File Size : 33,22 MB
Release : 2002
Category : Robots
ISBN : 9781560329831
Modeling, Identification and Control of Robots
Author : W. Khalil
Publisher : Butterworth-Heinemann
Page : 503 pages
File Size : 29,83 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
Epz Modeling Identification and Control of Robots
Author : W. Khalil
Publisher :
Page : pages
File Size : 26,28 MB
Release : 2005-01-01
Category :
ISBN : 9781903996751
Book Description
Kinematic Modeling, Identification, and Control of Robotic Manipulators
Author : Henry W. Stone
Publisher : Springer Science & Business Media
Page : 258 pages
File Size : 27,68 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.
Kinematic Modeling, Identification, and Control of Robotic Manipulators
Author : Henry W. Stone
Publisher : Springer Science & Business Media
Page : 236 pages
File Size : 24,23 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.
Robotics
Author : Bruno Siciliano
Publisher : Springer Science & Business Media
Page : 644 pages
File Size : 14,84 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.
Modelling and Control of Robot Manipulators
Author : Lorenzo Sciavicco
Publisher : Springer Science & Business Media
Page : 391 pages
File Size : 11,83 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 : 33,1 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.
Modeling, Identification, and Control for Cyber- Physical Systems Towards Industry 4.0
Author : Paolo Mercorelli
Publisher : Elsevier
Page : 486 pages
File Size : 24,17 MB
Release : 2024-01-19
Category : Technology & Engineering
ISBN : 0323952089
Book Description
Modeling, Identification, and Control for Cyber-Physical Systems Towards Industry 4.0 studies and analyzes the role of algorithms in identifying and controlling such a system towards Industry 4.0, which is the digital transformation of manufacturing and related industries and value creation processes. This book focuses on the conception and implementation of intelligent algorithms. It will help readers who work on sensors, virtual sensors, actuators and virtual actuators embedded systems, network infrastructures, servers with computing and storage capacity, autonomous computing software, real-time data processing, and database graphical user interfaces wireless networking technologies. Cyber-Physical Systems are network components that coordinate physical actions with each other. These autonomous systems perceive their surroundings using virtual sensors and actively influence them via virtual actuators. Adaptable and continuously evolving, these systems free up skilled workers to perform complex tasks, avoiding productivity loss and re-work. Provides the new and cutting-edge research and development and a series of guidance procedures for potential applications from academic research to industrial R&D Focuses on the conception and implementation of intelligent algorithms Covers a wide spectrum of topics, including sensors, virtual sensors, actuators and virtual actuators embedded systems, network infrastructures, servers with computing and storage capacity, autonomous computing software, real-time data processing, and database graphical user interfaces wireless networking technologies
Modelling and Identification in Robotics
Author : Krzysztof R. Kozlowski
Publisher : Springer
Page : 261 pages
File Size : 43,49 MB
Release : 2012-10-11
Category : Technology & Engineering
ISBN : 9781447111399
Book Description
As the use and relevance of robotics for countless scientific purposes grows all the time, research into the many diverse elements of the subject becomes ever more important and in demand. This volume examines in depth the most topical, complex issues of modelling and identification in robotics. The book is divided into three main parts. The !first part is devoted to robot dynamics modelling and identification of robot and load parameters, incorporating friction torques, discussing identification schemes, and presenting simulations and experiment al results of robot and load dynamic parameters identification. A general concept of robot programming language for research and educational purposes is examined and there is a detailed outline of its basic structures along with hardware requirements, which both constitute an open robot controller architecture. Finally a hybrid controller is derived, and several experimental results of this system are outlined. This impressive discussion of the topic covers both the theoretical and practical, illustrated throughout by examples and experimental results, and will be of value to anyone researching or practising within the field of robotics, automation and system i dentification or to control engineers.
