Modelling and Identification in Robotics
Springer Berlin (Verlag)
978-3-540-76240-9 (ISBN)
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.
1. Introduction.- 2. Robot hardware and programming software description.- 2.1 Introduction.- 2.2 General hardware description.- 2.3 General software considerations.- 2.4 Hardware description of an experimental set-up consisting of a one link geared robot.- 2.5 Further comments on the robot programming system.- 3. Robot dynamic models.- 3.1 Introduction.- 3.2 Derivation of the differential model.- 3.3 Derivation of the integral model.- 3.4 Comparison of the differential and integral models.- 3.5 Canonical models.- 3.6 Further comments on robot dynamics modelling for identification of their parameters.- 3.7 Examples of robot dynamics models for experimental identi-fication.- 4. Identification of robot model parameters.- 4.1 Introduction.- 4.2 Least squares technique for the differential model.- 4.3 Identification scheme for the integral model.- 4.4 Further comments on identification techniques used for estimation of robot dynamic parameters.- 4.5 Simulation results.- 5. Experimental identification of robot dynamic parameters.- 5.1 Introduction.- 5.2 Optimal trajectories for robot dynamics identification.- 5.3 Friction characteristics measurements for the integral model.- 5.4 Experimental identification results for the IRp-6 robot.- 5.5 Experimental identification results for a one link geared robot.- 5.6 Experimental identification results for the EDDA robot.- 5.7 Further comments on the experimental identification of robot dynamics.- 6. Load dynamics identification.- 6.1 Introduction.- 6.2 Mathematical description of load dynamic models.- 6.3 Exciting trajectories for load identification.- 6.4 Static load parameters measurements.- 6.5 Dynamic load parameters measurements.- 7. Hybrid control of the IRp-6 robot.- 7.1 Introduction.- 7.2 Different control algorithms for robots with position controllers.- 7.3 Local and global stiffness measurement of the IRp-6 robot.- 7.4 Experimental results.- 8. Concluding remarks.- References.
| Erscheint lt. Verlag | 25.3.1998 |
|---|---|
| Reihe/Serie | Advances in Industrial Control |
| Zusatzinfo | XXVI, 261 p. |
| Verlagsort | London |
| Sprache | englisch |
| Maße | 155 x 235 mm |
| Gewicht | 540 g |
| Themenwelt | Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik |
| Technik ► Elektrotechnik / Energietechnik | |
| Technik ► Maschinenbau | |
| Wirtschaft ► Betriebswirtschaft / Management | |
| Schlagworte | algorithms • Automation • Automation Identification • Control Algorithm • control engineering • Engineering Economics • Friction Torques • Hybrid Controller • Model • programming • Programming language • robot • Robot Dynamics Identification • Robot Dynamics Modelling • Roboter • Robotic Programming • Robotics • Simulation • System Identification |
| ISBN-10 | 3-540-76240-X / 354076240X |
| ISBN-13 | 978-3-540-76240-9 / 9783540762409 |
| Zustand | Neuware |
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