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© 1998

Modelling and Identification in Robotics

Benefits

  • Is topical and innovative - new identification schemes are proposed and new adaptive control algorithms are discussed * Is illustrated and reinforced throughout with experimental results, covering the practical as well as the theorteical

  • Has a clear and accessible layout, dealing systematically with all the issues involved in the subject

Book

Part of the Advances in Industrial Control book series (AIC)

Table of contents

  1. Front Matter
    Pages I-XXVI
  2. Krzysztof Kozlowski
    Pages 1-12
  3. Krzysztof Kozlowski
    Pages 13-46
  4. Krzysztof Kozlowski
    Pages 47-100
  5. Krzysztof Kozlowski
    Pages 101-130
  6. Krzysztof Kozlowski
    Pages 189-216
  7. Krzysztof Kozlowski
    Pages 217-242
  8. Krzysztof Kozlowski
    Pages 243-245
  9. Back Matter
    Pages 246-261

About this book

Introduction

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.

Keywords

algorithms automation control algorithm model programming programming language robot robotics simulation

Authors and affiliations

  1. 1.Faculty of Electrical EngineeringTechnical University of PoznanPoznanPoland

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