Modeling Identification And Control Of Robots
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Modeling Identification And Control Of Robots
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Author : W. Khalil
language : en
Publisher: Butterworth-Heinemann
Release Date : 2004-07-01
Modeling Identification And Control Of Robots written by W. Khalil and has been published by Butterworth-Heinemann this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004-07-01 with Technology & Engineering categories.
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
Modeling Identification And Control Of Robots
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Author : Wisama Khalil
language : en
Publisher: CRC Press
Release Date : 2002
Modeling Identification And Control Of Robots written by Wisama Khalil and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002 with Robots categories.
Epz Modeling Identification And Control Of Robots
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Author : W. Khalil
language : en
Publisher:
Release Date : 2005-01-01
Epz Modeling Identification And Control Of Robots written by W. Khalil and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2005-01-01 with categories.
Kinematic Modeling Identification And Control Of Robotic Manipulators
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Author : Henry W. Stone
language : en
Publisher: Springer Science & Business Media
Release Date : 1987-09-30
Kinematic Modeling Identification And Control Of Robotic Manipulators written by Henry W. Stone and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 1987-09-30 with Technology & Engineering categories.
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
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Author : Lorenzo Sciavicco
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Modelling And Control Of Robot Manipulators written by Lorenzo Sciavicco and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
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.
Dynamic Modeling Identification And Control Of Stewart Platform Based Machine Tools
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Author : Khalifa H. Harib
language : en
Publisher:
Release Date : 1997
Dynamic Modeling Identification And Control Of Stewart Platform Based Machine Tools written by Khalifa H. Harib and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1997 with categories.
Robot Manipulators
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Author : Etienne Dombre
language : en
Publisher: John Wiley & Sons
Release Date : 2013-03-01
Robot Manipulators written by Etienne Dombre and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-01 with Technology & Engineering categories.
This book presents the most recent research results on modeling and control of robot manipulators. Chapter 1 gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models. Chapter 2 describes the main features of serial robots, the different architectures and the methods used to obtain direct and inverse geometric, kinematic and dynamic models, paying special attention to singularity analysis. Chapter 3 introduces global and local tools for performance analysis of serial robots. Chapter 4 presents an original optimization technique for point-to-point trajectory generation accounting for robot dynamics. Chapter 5 presents standard control techniques in the joint space and task space for free motion (PID, computed torque, adaptive dynamic control and variable structure control) and constrained motion (compliant force-position control). In Chapter 6, the concept of vision-based control is developed and Chapter 7 is devoted to specific issue of robots with flexible links. Efficient recursive Newton-Euler algorithms for both inverse and direct modeling are presented, as well as control methods ensuring position setting and vibration damping.
Modelling And Identification In Robotics
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Author : Krzysztof R. Kozlowski
language : en
Publisher: Springer
Release Date : 2011-09-26
Modelling And Identification In Robotics written by Krzysztof R. Kozlowski and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-09-26 with Technology & Engineering categories.
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.
Modeling Identification And Control For Cyber Physical Systems Towards Industry 4 0
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Author : Paolo Mercorelli
language : en
Publisher: Elsevier
Release Date : 2024-01-19
Modeling Identification And Control For Cyber Physical Systems Towards Industry 4 0 written by Paolo Mercorelli and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-01-19 with Technology & Engineering categories.
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
Kinematic Modeling Identification And Control Of Robotic Manipulators
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Author : Henry W. Stone
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Kinematic Modeling Identification And Control Of Robotic Manipulators written by Henry W. Stone and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
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.