Robot Control And Calibration
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Robot Control And Calibration
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Author : Xin Luo
language : en
Publisher: Springer Nature
Release Date : 2023-09-25
Robot Control And Calibration written by Xin Luo and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-09-25 with Technology & Engineering categories.
This book mainly shows readers how to calibrate and control robots. In this regard, it proposes three control schemes: an error-summation enhanced Newton algorithm for model predictive control; RNN for solving perturbed time-varying underdetermined linear systems; and a new joint-drift-free scheme aided with projected ZNN, which can effectively improve robot control accuracy. Moreover, the book develops four advanced algorithms for robot calibration – Levenberg-Marquarelt with diversified regularizations; improved covariance matrix adaptive evolution strategy; quadratic interpolated beetle antennae search algorithm; and a novel variable step-size Levenberg-Marquardt algorithm – which can effectively enhance robot positioning accuracy. In addition, it is exceedingly difficult for experts in other fields to conduct robot arm calibration studies without calibration data. Thus, this book provides a publicly available dataset to assist researchers from other fields in conducting calibration experiments and validating their ideas. The book also discusses six regularization schemes based on its robot error models, i.e., L1, L2, dropout, elastic, log, and swish. Robots’ positioning accuracy is significantly improved after calibration. Using the control and calibration methods developed here, readers will be ready to conduct their own research and experiments.
Robot Calibration
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Author : Roger Bernard
language : en
Publisher: Springer Science & Business Media
Release Date : 1993-10-31
Robot Calibration written by Roger Bernard 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 1993-10-31 with Technology & Engineering categories.
Calibration is playing an increasingly important role in industrial robotics. Higher accuracy demands are being placed on flexible assembly and manufacturing systems which in turn require robot manufacturers to produce higher quality precision robots.
Camera Aided Robot Calibration
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Author : Hangi Zhuang
language : en
Publisher: CRC Press
Release Date : 2018-04-24
Camera Aided Robot Calibration written by Hangi Zhuang and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-04-24 with Technology & Engineering categories.
Robot calibration is the process of enhancing the accuracy of a robot by modifying its control software. This book provides a comprehensive treatment of the theory and implementation of robot calibration using computer vision technology. It is the only book to cover the entire process of vision-based robot calibration, including kinematic modeling, camera calibration, pose measurement, error parameter identification, and compensation. The book starts with an overview of available techniques for robot calibration, with an emphasis on vision-based techniques. It then describes various robot-camera systems. Since cameras are used as major measuring devices, camera calibration techniques are reviewed. Camera-Aided Robot Calibration studies the properties of kinematic modeling techniques that are suitable for robot calibration. It summarizes the well-known Denavit-Hartenberg (D-H) modeling convention and indicates the drawbacks of the D-H model for robot calibration. The book develops the Complete and Parametrically Continuous (CPC) model and the modified CPC model, that overcome the D-H model singularities. The error models based on these robot kinematic modeling conventions are presented. No other book available addresses the important, practical issue of hand/eye calibration. This book summarizes current research developments and demonstrates the pros and cons of various approaches in this area. The book discusses in detail the final stage of robot calibration - accuracy compensation - using the identified kinematic error parameters. It offers accuracy compensation algorithms, including the intuitive task-point redefinition and inverse-Jacobian algorithms and more advanced algorithms based on optimal control theory, which are particularly attractive for highly redundant manipulators. Camera-Aided Robot Calibration defines performance indices that are designed for off-line, optimal selection of measurement configurations. It then describes three approaches: closed-form, gradient-based, and statistical optimization. The included case study presents experimental results that were obtained by calibrating common industrial robots. Different stages of operation are detailed, illustrating the applicability of the suggested techniques for robot calibration. Appendices provide readers with preliminary materials for easier comprehension of the subject matter. Camera-Aided Robot Calibration is a must-have reference for researchers and practicing engineers-the only one with all the information!
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 Computers 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
Task Space Sensory Feedback Control Of Robot Manipulators
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Author : Chien Chern Cheah
language : en
Publisher: Springer
Release Date : 2015-04-09
Task Space Sensory Feedback Control Of Robot Manipulators written by Chien Chern Cheah and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-04-09 with Technology & Engineering categories.
This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.
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.
Visual Sensing And Its Applications
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Author : Zhongxue Gan
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-12-28
Visual Sensing And Its Applications written by Zhongxue Gan 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 2011-12-28 with Technology & Engineering categories.
“Visual Sensing and its Applications: Integration of Laser Sensors to Industrial Robots” provides comprehensive and up-to-date coverage of research and development on this robotic vision system. A laser-structured light is the main concern in discussions of visual sensing. Also addressed in this book are all components of the robotic vision system and an emphasis on how to increase the accuracy of the system using three levels of calibration. This includes calibration of the vision system (eye calibration), calibration of eye-to-hand configuration and calibration of robot kinematics (hand calibration). With the integration of the laser sensors to industrial robots numerous applications in the field of robotic welding, grinding, machining, inspection, and palletizing are illustrated based on practical engineering projects in order to demonstrate how the visual sensing is performed. The book will serve as a valuable resource for researchers and engineers in the areas of robotics and machine vision. Dr. Zhongxue Gan is a vice chairman and chief scientist of the ENN Group, China. He serves as a member of the National Energy Expert Consultation Committee of China and member of the National Coal Council of the USA. He is also a co-founder of Intersmart Robotic Systems Co. Ltd., China. He was a research fellow in flexible automation systems at ABB and a founding director of ABB Corporate Research Robot Laboratories, both in the USA and in China. Dr. Qing Tang is a co-founder and CEO of Intersmart Robotic Systems Co. Ltd., China and an adjunct professor in Physics at Sichuan University, China. He was a principle consulting engineer and project manager at the ABB Corporate Research Robot Laboratory in the USA.
Error Compensation For Industrial Robots
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Author : Wenhe Liao
language : en
Publisher: Springer Nature
Release Date : 2022-11-29
Error Compensation For Industrial Robots written by Wenhe Liao and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-11-29 with Technology & Engineering categories.
This book highlights the basic theories and key technologies of error compensation for industrial robots. The chapters are arranged in the order of actual applications: establishing the robot kinematic models, conducting error analysis, conducting kinematic and non-kinematic calibrations, and planning optimal sampling points. To help readers effectively apply the technologies, the book elaborates the experiments and applications in robotic drilling and milling, which further verifies the effectiveness of the technologies. This book presents the authors’ research achievements in the past decade in improving robot accuracy. It is straightforwardly applicable for technical personnel in the aviation field, and provides valuable reference for researchers and engineers in various robotic applications.
Robotic Systems For Handling And Assembly
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Author : Daniel Schütz
language : en
Publisher: Springer
Release Date : 2010-11-30
Robotic Systems For Handling And Assembly written by Daniel Schütz and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-11-30 with Technology & Engineering categories.
Although parallel robots are known to offer many advantages with respect to accuracy, dynamics, and stiffness, major breakthroughs in industrial applications have not yet taken place. This is due to a knowledge gap preventing fast and precise execution of industrial handling and assembly tasks. This book focuses on the design, modeling, and control of innovative parallel structures as well as the integration of novel machine elements. Special attention is paid to the integration of active components into lightweight links and passive joints. In addition, new control concepts are introduced to minimize structural vibrations. Although the optimization of robot systems itself allows a reduction of cycle times, these can be further decreased by improved path planning, robot programming, and automated assembly planning concepts described by 25 contributions within this book. The content of this volume is subdivided into four main parts dealing with Modeling and Design, System Implementation, Control and Programming as well as Adaptronics and Components. This book is aimed at researchers and postgraduates working in the field of parallel robots as well as practicing engineers dealing with industrial robot development and robotic applications.
Fundamentals Of Manipulator Calibration
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Author : Benjamin W. Mooring
language : en
Publisher: Wiley-Interscience
Release Date : 1991-03-19
Fundamentals Of Manipulator Calibration written by Benjamin W. Mooring and has been published by Wiley-Interscience this book supported file pdf, txt, epub, kindle and other format this book has been release on 1991-03-19 with Computers categories.
Describes the details of the calibration process step-by-step, covering systems modeling, measurement, identification, correction and performance evaluation. Calibration techniques are presented with an explanation of how they interact with each other as they are modified. Shows the reader how to determine if, in fact, a robot problem is a calibration problem and then how to analyze it.