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Modelling and Identification in Robotics

  • Book
  • © 1998

Overview

Authors:
  1. Krzysztof Kozlowski

    1. Faculty of Electrical Engineering, Technical University of Poznan, Poznan, Poland

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  • Is topical and innovative - new identification schemes are proposed and new adaptive control algorithms are discussed * Is illustrated and reinforced throughout with experimental results, covering the practical as well as the theorteical
  • Has a clear and accessible layout, dealing systematically with all the issues involved in the subject

Part of the book series: Advances in Industrial Control (AIC)

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Table of contents (8 chapters)

  1. Front Matter

    Pages I-XXVI
    Download chapter PDF

  2. Introduction

    • Krzysztof Kozlowski
    Pages 1-12

  3. Robot hardware and programming software description

    • Krzysztof Kozlowski
    Pages 13-46

  4. Robot dynamic models

    • Krzysztof Kozlowski
    Pages 47-100

  5. Identification of robot model parameters

    • Krzysztof Kozlowski
    Pages 101-130

  6. Experimental identification of robot dynamic parameters

    • Krzysztof Kozlowski
    Pages 131-188

  7. Load dynamics identification

    • Krzysztof Kozlowski
    Pages 189-216

  8. Hybrid control of the IRp-6 robot

    • Krzysztof Kozlowski
    Pages 217-242

  9. Concluding remarks

    • Krzysztof Kozlowski
    Pages 243-245

  10. Back Matter

    Pages 246-261
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Keywords

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. The !first part is devoted to robot dynamics modelling and identification of robot and load parameters, incorporating friction torques, discussing identification schemes, and presenting simulations and experiment al 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. Finally 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 i dentification or to control engineers.

Authors and Affiliations

  • Faculty of Electrical Engineering, Technical University of Poznan, Poznan, Poland

    Krzysztof Kozlowski

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