Modelling and Identification in Robotics

Krzysztof R. Kozlowski (Autor)

Buch | Softcover

261 Seiten

2012 | Softcover reprint of the original 1st ed. 1998
Springer London Ltd (Verlag)
978-1-4471-1139-9 (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. 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.

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	11.10.2012
Reihe/Serie	Advances in Industrial Control
Zusatzinfo	XXVI, 261 p.
Verlagsort	England
Sprache	englisch
Maße	155 x 235 mm
Themenwelt	Sachbuch/Ratgeber ► Natur / Technik ► Garten
	Informatik ► Grafik / Design ► Digitale Bildverarbeitung
	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
	Technik ► Elektrotechnik / Energietechnik
	Technik ► Maschinenbau
ISBN-10	1-4471-1139-7 / 1447111397
ISBN-13	978-1-4471-1139-9 / 9781447111399
Zustand	Neuware