Advances in Industrial Control

Modelling and Identification in Robotics

Authors: Kozlowski, Krzysztof R.

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About this book

As the use and relevance of robotics for countless scientific purposes grows all the time, research into the many diverse elements of the subject becomes ever more important and in demand. This volume examines in depth the most topical, complex issues of modelling and identification in robotics.

The book is divided into three main parts:

  • Robot dynamics modelling and identification of robot and load parameters, incorporating friction torques, discussing identification schemes, and presenting simulations and experimental results of robot and load dynamic parameters identification.
  • A general concept of robot programming language for research and educational purposes is examined and there is a detailed outline of its basic structures along with hardware requirements, which both constitute an open robot controller architecture.
  • A hybrid controller is derived, and several experimental results of this system are outlined.

This impressive discussion of the topic covers both the theoretical and practical, illustrated throughout by examples and experimental results, and will be of value to anyone researching or practising within the field of robotics, automation and system identification, or to control engineers.

 

Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Table of contents (8 chapters)

  • Introduction

    Kozlowski, Krzysztof

    Pages 1-12

  • Robot hardware and programming software description

    Kozlowski, Krzysztof

    Pages 13-46

  • Robot dynamic models

    Kozlowski, Krzysztof

    Pages 47-100

  • Identification of robot model parameters

    Kozlowski, Krzysztof

    Pages 101-130

  • Experimental identification of robot dynamic parameters

    Kozlowski, Krzysztof

    Pages 131-188

Buy this book

eBook $109.00
price for USA (gross)
  • ISBN 978-1-4471-0429-2
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $199.00
price for USA
  • ISBN 978-3-540-76240-9
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $149.00
price for USA
  • ISBN 978-1-4471-1139-9
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Modelling and Identification in Robotics
Authors
Series Title
Advances in Industrial Control
Copyright
1998
Publisher
Springer-Verlag London
Copyright Holder
Springer-Verlag London
eBook ISBN
978-1-4471-0429-2
DOI
10.1007/978-1-4471-0429-2
Hardcover ISBN
978-3-540-76240-9
Softcover ISBN
978-1-4471-1139-9
Series ISSN
1430-9491
Edition Number
1
Number of Pages
XXVI, 261
Topics