Modeling Identification and Control of Robots
| Author | : Wisama Khalil |
| Publisher | : CRC Press |
| Total Pages | : 508 |
| Release | : 2002 |
| Genre | : Robots |
| ISBN | : 9781560329831 |
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Modelling And Identification In Robotics PDF Download
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Modeling, Identification and Control of Robots
| Author | : W. Khalil |
| Publisher | : Butterworth-Heinemann |
| Total Pages | : 503 |
| Release | : 2004-07-01 |
| Genre | : Computers |
| ISBN | : 0080536611 |
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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 |
| Total Pages | : 258 |
| Release | : 1987-09-30 |
| Genre | : Technology & Engineering |
| ISBN | : 9780898382372 |
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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 Identification in Robotics
| Author | : Krzysztof R. Kozlowski |
| Publisher | : Springer |
| Total Pages | : 261 |
| Release | : 2012-10-11 |
| Genre | : Technology & Engineering |
| ISBN | : 9781447111399 |
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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.
Modelling and Identification in Robotics
| Author | : Krzysztof R. Kozlowski |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 288 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1447104293 |
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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.
Robotics
| Author | : Bruno Siciliano |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 644 |
| Release | : 2010-08-20 |
| Genre | : Technology & Engineering |
| ISBN | : 1846286417 |
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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 Identification in Robotics
| Author | : Krzysztof Kozłowski |
| Publisher | : Springer |
| Total Pages | : 298 |
| Release | : 1998-03-25 |
| Genre | : Business & Economics |
| ISBN | : |
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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: Robot dynamics modelling and identification of robot and load parameters, incorporating friction torques, discussing identification schemes, and presenting simulations and experimental 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. 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 identification, or to control engineers. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.
Modelling and Control of Robot Manipulators
| Author | : Lorenzo Sciavicco |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 391 |
| Release | : 2012-12-06 |
| Genre | : Technology & Engineering |
| ISBN | : 1447104498 |
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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 |
| Total Pages | : 356 |
| Release | : 2008-08-04 |
| Genre | : Robots |
| ISBN | : 9788126517800 |
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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.
Robotics and Automation Handbook
| Author | : Thomas R. Kurfess |
| Publisher | : CRC Press |
| Total Pages | : 608 |
| Release | : 2018-10-03 |
| Genre | : Technology & Engineering |
| ISBN | : 1420039733 |
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As the capability and utility of robots has increased dramatically with new technology, robotic systems can perform tasks that are physically dangerous for humans, repetitive in nature, or require increased accuracy, precision, and sterile conditions to radically minimize human error. The Robotics and Automation Handbook addresses the major aspects of designing, fabricating, and enabling robotic systems and their various applications. It presents kinetic and dynamic methods for analyzing robotic systems, considering factors such as force and torque. From these analyses, the book develops several controls approaches, including servo actuation, hybrid control, and trajectory planning. Design aspects include determining specifications for a robot, determining its configuration, and utilizing sensors and actuators. The featured applications focus on how the specific difficulties are overcome in the development of the robotic system. With the ability to increase human safety and precision in applications ranging from handling hazardous materials and exploring extreme environments to manufacturing and medicine, the uses for robots are growing steadily. The Robotics and Automation Handbook provides a solid foundation for engineers and scientists interested in designing, fabricating, or utilizing robotic systems.
