Kinematic Modeling, Identification, and Control of Robotic Manipulators

✍ Scribed by Henry W. Stone (auth.)

• Publisher: Springer US
• Year: 1987
• Tongue: English
• Leaves: 235
• Series: The Kluwer International Series in Engineering and Computer Science 29
• Edition: 1
• Category: Library

✦ Synopsis

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.

✦ Table of Contents

Front Matter....Pages i-xxi
Introduction....Pages 1-6
Review of Robot Kinematics, Identification, and Control....Pages 7-29
Formulation of the S-Model....Pages 31-41
Kinematic Identification....Pages 43-78
Inverse Kinematics....Pages 79-95
Prototype System and Performance Evaluation....Pages 97-144
Performance Evaluation Based Upon Simulation....Pages 145-174
Summary and Conclusions....Pages 175-181
Back Matter....Pages 183-224

✦ Subjects

Control, Robotics, Mechatronics;Artificial Intelligence (incl. Robotics);Mechanical Engineering