Modelling and Identification in Robotics
By: by Krzysztof Kozlowski
Series: Advances in Industrial Control; Advances in industrial control
Publisher: Springer London
Published: 1998
Place of publication: London
Language: eng
Format: [electronic resource] /
Number of pages: 261
ISBN-13: 9781447111399; 9781447104292
Subjects: Engineering; Engineering economy; Mechanical engineering
Description: 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 the most topical, complex issues of modelling and identification in robotics. The book is divided into three main parts: Robot dynamics modelling and identification of robot and load parameters, incorporating friction torques, discussing identification schemes, and presenting simulations and experimental 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. A hybrid controller is derived, and several experimental results of this system are outlined. This impressive discussion of the topic covers both the theoretical and practical, illustrated throughout by examples and experimental results, and will be of value to anyone researching or practising within the field of robotics, automation and system identification, or to control engineers. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.
Notes: Online full text is restricted to subscribers.

Also available in print.

Mode of access: World Wide Web.
Table of contents: title: Preface; title: Introduction; title: Robot hardware and programming software description; title: Robot dynamic models; title: Identification of robot model parameters; title: Experimental identification of robot dynamic parameters; title: Load dynamic identification; title: Hybrid control of the Irp-6 robot; title: Concluding remarks; title: References.