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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Kinematic Modeling, Identification, and Control of Robotic Manipulators

Kinematic Modeling, Identification, and Control of Robotic Manipulators

Stone, Henry W.

Paperback

Series: The Springer International Engineering and Computer Science, Book 29

Real EstateTechnology & Engineering

ISBN10: 1461291933
ISBN13: 9781461291930
Publisher: Springer Nature
Published: Nov 23 2011
Pages: 224
Weight: 0.79
Height: 0.53 Width: 6.14 Depth: 9.21
Language: English
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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