Kinematic Modeling, Identification, and Control of Robotic Manipulators: 29 (The Springer International Series in Engineering and Computer Science, 29) - Tapa dura

Stone, Henry W.

 
9780898382372: Kinematic Modeling, Identification, and Control of Robotic Manipulators: 29 (The Springer International Series in Engineering and Computer Science, 29)
Tapa dura
ISBN 10: 0898382378 ISBN 13: 9780898382372
Editorial: Springer, 1987

Sinopsis

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.

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Reseña del editor

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.

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Editorial
Springer
Año de publicación
1987
Idioma
Inglés
ISBN 10 
0898382378
ISBN 13 
9780898382372
Encuadernación
Tapa dura
Número de páginas
252
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Otras ediciones populares con el mismo título

9781461291930: Kinematic Modeling, Identification, and Control of Robotic Manipulators: 29 (The Springer International Series in Engineering and Computer Science)

Edición Destacada

ISBN 10:  1461291933 ISBN 13:  9781461291930
Editorial: Springer, 2011
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