Overview

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 complex issues of modelling and identification of robot and load parameters, incorporating friction torques, discussing identification schemes, and presenting simulations and experiments as 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 discussion of the topic covers both the theoretical and practical, illustrated throughout by examples and experimental results, and should be of value to anyone researching or practising within the field of robotics.

Full Product Details

Author:   Krzysztof R. Kozlowski
Publisher:   Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
Imprint:   Springer-Verlag Berlin and Heidelberg GmbH & Co. K
Edition:   1998 ed.
Dimensions:   Width: 15.50cm , Height: 1.70cm , Length: 23.50cm
Weight:   1.290kg
ISBN:  

9783540762409

ISBN 10:   354076240
Pages:   261
Publication Date:   25 March 1998
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Hardback
Publisher's Status:   Active
Availability:   In Print  
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Table of Contents

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.

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