Kinematic Modeling, Identification, and Control of Robotic Manipulators:
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 manipulator...
Gespeichert in:
| 1. Verfasser: | |
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| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Boston, MA
Springer US
1987
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| Schriftenreihe: | The Kluwer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation, and Sensors
29 |
| Schlagworte: | |
| Online-Zugang: | BTU01 URL des Erstveröffentlichers |
| Zusammenfassung: | 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 |
| Beschreibung: | 1 Online-Ressource (XXII, 224 p) |
| ISBN: | 9781461319993 |
| DOI: | 10.1007/978-1-4613-1999-3 |
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| 520 | |a 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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Datensatz im Suchindex
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| author | Stone, Henry W. |
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
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| series2 | The Kluwer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation, and Sensors |
| spelling | Stone, Henry W. Verfasser aut Kinematic Modeling, Identification, and Control of Robotic Manipulators by Henry W. Stone Boston, MA Springer US 1987 1 Online-Ressource (XXII, 224 p) txt rdacontent c rdamedia cr rdacarrier The Kluwer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation, and Sensors 29 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 Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Mechanical Engineering Artificial intelligence Mechanical engineering Control engineering Robotics Mechatronics Kinematik (DE-588)4030664-1 gnd rswk-swf Industrieroboter (DE-588)4026861-5 gnd rswk-swf 1\p (DE-588)4113937-9 Hochschulschrift gnd-content Industrieroboter (DE-588)4026861-5 s Kinematik (DE-588)4030664-1 s 2\p DE-604 Erscheint auch als Druck-Ausgabe 9781461291930 https://doi.org/10.1007/978-1-4613-1999-3 Verlag URL des Erstveröffentlichers Volltext 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk 2\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Stone, Henry W. Kinematic Modeling, Identification, and Control of Robotic Manipulators Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Mechanical Engineering Artificial intelligence Mechanical engineering Control engineering Robotics Mechatronics Kinematik (DE-588)4030664-1 gnd Industrieroboter (DE-588)4026861-5 gnd |
| subject_GND | (DE-588)4030664-1 (DE-588)4026861-5 (DE-588)4113937-9 |
| title | Kinematic Modeling, Identification, and Control of Robotic Manipulators |
| title_auth | Kinematic Modeling, Identification, and Control of Robotic Manipulators |
| title_exact_search | Kinematic Modeling, Identification, and Control of Robotic Manipulators |
| title_full | Kinematic Modeling, Identification, and Control of Robotic Manipulators by Henry W. Stone |
| title_fullStr | Kinematic Modeling, Identification, and Control of Robotic Manipulators by Henry W. Stone |
| title_full_unstemmed | Kinematic Modeling, Identification, and Control of Robotic Manipulators by Henry W. Stone |
| title_short | Kinematic Modeling, Identification, and Control of Robotic Manipulators |
| title_sort | kinematic modeling identification and control of robotic manipulators |
| topic | Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Mechanical Engineering Artificial intelligence Mechanical engineering Control engineering Robotics Mechatronics Kinematik (DE-588)4030664-1 gnd Industrieroboter (DE-588)4026861-5 gnd |
| topic_facet | Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Mechanical Engineering Artificial intelligence Mechanical engineering Control engineering Robotics Mechatronics Kinematik Industrieroboter Hochschulschrift |
| url | https://doi.org/10.1007/978-1-4613-1999-3 |
| work_keys_str_mv | AT stonehenryw kinematicmodelingidentificationandcontrolofroboticmanipulators |