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Kinematic Modeling, Identification, and Control of Robotic Manipulators

  • Henry W. Stone

Table of contents

  1. Front Matter
    Pages i-xxi
  2. Henry W. Stone
    Pages 1-6
  3. Henry W. Stone
    Pages 31-41
  4. Henry W. Stone
    Pages 43-78
  5. Henry W. Stone
    Pages 79-95
  6. Henry W. Stone
    Pages 97-144
  7. Henry W. Stone
    Pages 145-174
  8. Henry W. Stone
    Pages 175-181
  9. Back Matter
    Pages 183-224

About this book

Introduction

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.

Keywords

algorithms complexity control design development industrial robot kinematics measurement modeling proving robot sensor simulation verification

Authors and affiliations

  • Henry W. Stone
    • 1
  1. 1.Carnegie-Mellon UniversityUSA

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-4613-1999-3
  • Copyright Information Springer-Verlag US 1987
  • Publisher Name Springer, Boston, MA
  • eBook Packages Springer Book Archive
  • Print ISBN 978-1-4612-9193-0
  • Online ISBN 978-1-4613-1999-3
  • Series Print ISSN 0893-3405
  • Buy this book on publisher's site
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