Modelling and identification in robotics:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
London [u.a.]
Springer
1998
|
| Schriftenreihe: | Advances in industrial control
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Literaturverzeichnis Seite [249] - 261 |
| Beschreibung: | XXVI, 261 S. graph. Darst. |
| ISBN: | 354076240X |
Internformat
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Datensatz im Suchindex
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| adam_text | KRZYSZTOF KOZLOWSKI MODELLING AND IDENTIFICATION IN ROBOTICS WITH 50
FIGURES SPRINGER CONTENTS PREFACE XI TABLE OF CONTENTS XV LIST OF
FIGURES - XIX LIST OF TABLES XXI NOMENCLATURE XXIII 1. INTRODUCTION .- 1
2. ROBOT HARDWARE AND PROGRAMMING SOFTWARE DESCRIPTION. .. 13 2.1
INTRODUCTION 13 2.2 GENERAL HARDWARE DESCRIPTION 15 2.3 GENERAL SOFTWARE
CONSIDERATIONS 19 2.3.1 DESCRIPTION OF OBJECTS 21 2.3.2 JOINT SPACE
TRAJECTORIES 27 2.3.3 IMPLEMENTATION OF THE BUS ACCESS INTERFACE IN
TRAJEC- TORY PLANNING FOR THE IRP-6 ROBOT 28 2.3.4 DESCRIPTION OF THE
PROGRAMME EXECUTING THE POLYNO- MIAL TRAJECTORIES 30 2.3.5 TRAJECTORY
PLANNING IN CARTESIAN SPACE FOR THE IRP-6 ROBOT 34 2.3.6 AN EXAMPLE OF
PALLETISING 39 2.3.7 VIRTUAL PROGRAMMING PANEL 42 2.4 HARDWARE
DESCRIPTION OF AN EXPERIMENTAL SET-UP CONSISTING OF A ONE LINK GEARED
ROBOT 42 2.5 FURTHER COMMENTS ON THE ROBOT PROGRAMMING SYSTEM 45 3.
ROBOT DYNAMIC MODELS 47 3.1 INTRODUCTION 47 3.2 DERIVATION OF THE
DIFFERENTIAL MODEL 49 3.3 DERIVATION OF THE INTEGRAL MODEL 56 3.4
COMPARISON OF THE DIFFERENTIAL AND INTEGRAL MODELS 60 XVI . TABLE OF
CONTENTS 3.5 CANONICAL MODELS 61 3.6 FURTHER COMMENTS ON ROBOT DYNAMICS
MODELLING FOR IDENTIFI- CATION OF THEIR PARAMETERS 70 3.7 EXAMPLES OF
ROBOT DYNAMICS MODELS FOR EXPERIMENTAL IDENTI- FICATION 75 3.7.1 THE
EDDA DYNAMIC MODEL 76 3.7.2 THE IRP-6 DYNAMIC MODEL 81 4. IDENTIFICATION
OF ROBOT MODEL PARAMETERS 101 4.1 INTRODUCTION 101 4.2 LEAST SQUARES
TECHNIQUE FOR THE DIFFERENTIAL MODEL 104 4.3 IDENTIFICATION SCHEME FOR
THE INTEGRAL MODEL 109 4.4 FURTHER COMMENTS ON IDENTIFICATION TECHNIQUES
USED FOR ESTI- MATION OF ROBOT DYNAMIC PARAMETERS 113 4.5 SIMULATION
RESULTS 125 5. EXPERIMENTAL IDENTIFICATION OF ROBOT DYNAMIC PARAMETERS .
131 5.1. INTRODUCTION 131 5.2 OPTIMAL TRAJECTORIES FOR ROBOT DYNAMICS
IDENTIFICATION 134 5.2.1 INTRODUCTION: DIFFERENT OPTIMISATION TECHNIQUES
134 5.2.2 OPTIMISATION PROCEDURES 140 5.2.3 EXCITING TRAJECTORIES FOR
THE DIFFERENTIAL AND INTEGRAL MODELS OF THE IRP-6 ROBOT 147 5.3 FRICTION
CHARACTERISTICS MEASUREMENTS FOR THE INTEGRAL MODEL . 152 5.3.1
INTRODUCTION 152 5.3.2 TUSTIN MODEL 153 5.3.3 EXPERIMENTAL FRICTION
CHARACTERISTICS MEASUREMENTS FOR THE IRP-6 ROBOT 156 5.4 EXPERIMENTAL
IDENTIFICATION RESULTS FOR THE IRP-6 ROBOT 160 5.5 EXPERIMENTAL
IDENTIFICATION RESULTS FOR A ONE LINK GEARED ROBOT 177 5.6 EXPERIMENTAL
IDENTIFICATION RESULTS FOR THE EDDA ROBOT 180 5.7 FURTHER COMMENTS ON
THE EXPERIMENTAL IDENTIFICATION OF ROBOT DYNAMICS 185 6. LOAD DYNAMICS
IDENTIFICATION 189 6.1 INTRODUCTION 189 6.2 MATHEMATICAL DESCRIPTION OF
LOAD DYNAMIC MODELS 191 6.3 EXCITING TRAJECTORIES FOR LOAD
IDENTIFICATION 199 6.4 STATIC LOAD PARAMETERS MEASUREMENTS 201 6.5
DYNAMIC LOAD PARAMETERS MEASUREMENTS 207 7. HYBRID CONTROL OF THE IRP-6
ROBOT 217 _ 7.1 INTRODUCTION 217 7.2 DIFFERENT CONTROL ALGORITHMS FOR
ROBOTS WITH POSITION CONTROLLERS219 7.2.1 A HYBRID CONTROLLER FOR THE
PUMA 560 ROBOT 219 TABLE OF CONTENTS XVII 7.2.2 A HYBRID CONTROLLER FOR
THE IRP-6 ROBOT 223 7.3 LOCAL AND GLOBAL STIFFNESS MEASUREMENT OF THE
IRP-6 ROBOT ... 228 7.3.1 A METHOD DESCRIPTION 228 7.3.2 LOCAL AND
GLOBAL STIFFNESS CALCULATIONS 236 7.4 ~ EXPERIMENTAL RESULTS 238 8.
CONCLUDING REMARKS 243 INDEX 246 REFERENCES 249
|
| any_adam_object | 1 |
| author | Kozłowski, Krzysztof 1951- |
| author_GND | (DE-588)118035371 |
| author_facet | Kozłowski, Krzysztof 1951- |
| author_role | aut |
| author_sort | Kozłowski, Krzysztof 1951- |
| author_variant | k k kk |
| building | Verbundindex |
| bvnumber | BV011753369 |
| classification_rvk | ZQ 6250 |
| classification_tum | FER 988f |
| ctrlnum | (OCoLC)442175181 (DE-599)BVBBV011753369 |
| discipline | Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| indexdate | 2024-07-09T18:15:12Z |
| institution | BVB |
| isbn | 354076240X |
| language | English |
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| physical | XXVI, 261 S. graph. Darst. |
| publishDate | 1998 |
| publishDateSearch | 1998 |
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| series2 | Advances in industrial control |
| spelling | Kozłowski, Krzysztof 1951- Verfasser (DE-588)118035371 aut Modelling and identification in robotics Krzysztof Kozlowski London [u.a.] Springer 1998 XXVI, 261 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Advances in industrial control Literaturverzeichnis Seite [249] - 261 Systemidentifikation (DE-588)4121753-6 gnd rswk-swf Mathematisches Modell (DE-588)4114528-8 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf Robotik (DE-588)4261462-4 gnd rswk-swf Programmierung (DE-588)4076370-5 gnd rswk-swf Dynamisches System (DE-588)4013396-5 gnd rswk-swf Industrieroboter (DE-588)4026861-5 s Dynamisches System (DE-588)4013396-5 s Systemidentifikation (DE-588)4121753-6 s DE-604 Programmierung (DE-588)4076370-5 s Robotik (DE-588)4261462-4 s Mathematisches Modell (DE-588)4114528-8 s GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007931223&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Kozłowski, Krzysztof 1951- Modelling and identification in robotics Systemidentifikation (DE-588)4121753-6 gnd Mathematisches Modell (DE-588)4114528-8 gnd Industrieroboter (DE-588)4026861-5 gnd Robotik (DE-588)4261462-4 gnd Programmierung (DE-588)4076370-5 gnd Dynamisches System (DE-588)4013396-5 gnd |
| subject_GND | (DE-588)4121753-6 (DE-588)4114528-8 (DE-588)4026861-5 (DE-588)4261462-4 (DE-588)4076370-5 (DE-588)4013396-5 |
| title | Modelling and identification in robotics |
| title_auth | Modelling and identification in robotics |
| title_exact_search | Modelling and identification in robotics |
| title_full | Modelling and identification in robotics Krzysztof Kozlowski |
| title_fullStr | Modelling and identification in robotics Krzysztof Kozlowski |
| title_full_unstemmed | Modelling and identification in robotics Krzysztof Kozlowski |
| title_short | Modelling and identification in robotics |
| title_sort | modelling and identification in robotics |
| topic | Systemidentifikation (DE-588)4121753-6 gnd Mathematisches Modell (DE-588)4114528-8 gnd Industrieroboter (DE-588)4026861-5 gnd Robotik (DE-588)4261462-4 gnd Programmierung (DE-588)4076370-5 gnd Dynamisches System (DE-588)4013396-5 gnd |
| topic_facet | Systemidentifikation Mathematisches Modell Industrieroboter Robotik Programmierung Dynamisches System |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=007931223&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT kozłowskikrzysztof modellingandidentificationinrobotics |