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Kinematic Modeling, Identification, and Control of Robotic Manipulators

  • Book
  • © 1987

Overview

Authors:
  1. Henry W. Stone

    1. Carnegie-Mellon University, USA

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Table of contents (8 chapters)

  1. Front Matter

    Pages i-xxi
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  2. Introduction

    • Henry W. Stone
    Pages 1-6

  3. Review of Robot Kinematics, Identification, and Control

    • Henry W. Stone
    Pages 7-29

  4. Formulation of the S-Model

    • Henry W. Stone
    Pages 31-41

  5. Kinematic Identification

    • Henry W. Stone
    Pages 43-78

  6. Inverse Kinematics

    • Henry W. Stone
    Pages 79-95

  7. Prototype System and Performance Evaluation

    • Henry W. Stone
    Pages 97-144

  8. Performance Evaluation Based Upon Simulation

    • Henry W. Stone
    Pages 145-174

  9. Summary and Conclusions

    • Henry W. Stone
    Pages 175-181

  10. Back Matter

    Pages 183-224
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Keywords

About this book

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.

Authors and Affiliations

  • Carnegie-Mellon University, USA

    Henry W. Stone

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