Author: 1957- Figueroa
Publisher:
ISBN:
Category :
Languages : en
Pages : 157
Book Description
An Ultrasonic Ranging System for Robot End-effector Position Measurement
Author: 1957- Figueroa
Publisher:
ISBN:
Category :
Languages : en
Pages : 157
Book Description
Publisher:
ISBN:
Category :
Languages : en
Pages : 157
Book Description
Kinematic Modeling, Identification, and Control of Robotic Manipulators
Author: Henry W. Stone
Publisher: Springer Science & Business Media
ISBN: 1461319994
Category : Technology & Engineering
Languages : en
Pages : 236
Book Description
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.
Publisher: Springer Science & Business Media
ISBN: 1461319994
Category : Technology & Engineering
Languages : en
Pages : 236
Book Description
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.
IEEE International Conference on Systems Engineering, August 9-11, 1990, Vista International Hotel, Pittsburgh, Pennsylvania
Author:
Publisher:
ISBN:
Category : Systems engineering
Languages : en
Pages : 678
Book Description
Publisher:
ISBN:
Category : Systems engineering
Languages : en
Pages : 678
Book Description
IEEE International Conference on Systems Engineering
Author:
Publisher:
ISBN:
Category : Systems engineering
Languages : en
Pages : 682
Book Description
Publisher:
ISBN:
Category : Systems engineering
Languages : en
Pages : 682
Book Description
Journal of Dynamic Systems, Measurement, and Control
Author:
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages : 540
Book Description
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages : 540
Book Description
Paper
Author:
Publisher:
ISBN:
Category : Mechanical engineering
Languages : en
Pages : 294
Book Description
Publisher:
ISBN:
Category : Mechanical engineering
Languages : en
Pages : 294
Book Description
Proceedings of the USA-Japan Symposium on Flexible Automation
Author:
Publisher:
ISBN:
Category : Flexible manufacturing systems
Languages : en
Pages : 624
Book Description
Publisher:
ISBN:
Category : Flexible manufacturing systems
Languages : en
Pages : 624
Book Description
Proceedings of the ASME Dynamic Systems and Control Division
Author:
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages : 966
Book Description
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages : 966
Book Description
Proceedings of the Japan-U.S.A. Symposium on Flexible Automation
Author:
Publisher:
ISBN:
Category : Flexible manufacturing systems
Languages : en
Pages : 694
Book Description
Publisher:
ISBN:
Category : Flexible manufacturing systems
Languages : en
Pages : 694
Book Description
Robotics Research, 1989
Author: American Society of Mechanical Engineers. Winter Annual Meeting
Publisher:
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 324
Book Description
Publisher:
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 324
Book Description