Kinematic Modeling, Identification, and Control of Robotic Manipulators

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Springer Science & Business Media, Sep 30, 1987 - Technology & Engineering - 224 pages
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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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Contents

Introduction
v
Review of Robot Kinematics Identification and Control
xi
Formulation of the SModel
13
Kinematic Identification
25
Inverse Kinematics
61
Prototype System and Performance Evaluation
79
Performance Evaluation Based Upon Simulation
127
Summary and Conclusions
157
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Page 226 - A Kinematic CAD Tool for the Design and Control of a Robot Manipulator", The International Journal of Robotics Research, Vol.
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