๐”– Bobbio Scriptorium
โœฆ   LIBER   โœฆ

Detailed modelling and estimation of practical robotic parameters for precision control

โœ Scribed by G. Dodds; N. Glover

Book ID
103988755
Publisher
Elsevier Science
Year
1995
Tongue
English
Weight
741 KB
Volume
3
Category
Article
ISSN
0967-0661

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โœฆ Synopsis

A rudimentary motor-load system is used to derive complex models of robotic systems. This economic manipulator displays all the fundamental nonlinear characteristics of a standard industrial robot. The manipulator has several advantages over its more costly rival, accurate values of inertia are easily assigned, and as a result secondary features are easily isolated. For the real system the physical characteristics of the electrical hardware, are modelled and then the actuator and mechanical transmission effects determined. Complex friction parameters of the system are then estimated; these allow the development of friction models and make possible friction compensation for control. Other practical considerations such as real-time parameter estimation are examined.

๐Ÿ“œ SIMILAR VOLUMES

COMBINING INTERNAL AND EXTERNAL ROBOT MO
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โœ X. CHENUT; J.C. SAMIN; J. SWEVERS; C. GANSEMAN ๐Ÿ“‚ Article ๐Ÿ“… 2000 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 182 KB

Experimental robot identi"cation techniques can principally be divided into two categories, based on the type of models they use : internal or external. Internal models relate the joint torques or forces and the motion of the robot; external models relate the reaction forces and torques on the bedpl