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Inhaltsangabe
Model-Based Control of a Robot Manipulator presents the first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control. The authors' work on automatic identification of kinematic and dynamic parameters, feedforward position control, stability in force control, and trajectory learning has significant implications for improving performance in future robot systems. All of the main ideas discussed in this book have been validated by experiments on a direct-drive robot arm.
The book addresses the issues of building accurate robot models and of applying them for high performance control. It first describes how three sets of models - the kinematic model of the links and the inertial models of the links and of rigid-body loads - can be obtained automatically using experimental data. These models are then incorporated into position control, single trajectory learning, and force control. The MIT Serial Link Direct Drive Arm, on which these models were developed and applied to control, is one of the few manipulators currently suitable for testing such concepts.
Contents:
Introduction. Direct Drive Arms. Kinematic Calibration. Estimation of Load Inertial Parameters. Estimation of Link Inertial Parameters. Feedforward and Computed Torque Control. Model-Based Robot Learning. Dynamic Stability Issues in Force Control. Kinematic Stability Issues in Force Control. Conclusion.
Chae An is Research Staff Member, IBM T.J. Watson Research Center, Christopher Atkeson is an Assistant Professor and John Hollerbach is an Associate Professor in the MIT Department of Brain and Cognitive Sciences and the MIT Artificial Intelligence Laboratory. Model-Based Control of a Robot Manipulator is included in the Artificial Intelligence Series edited by Patrick Winston and Michael Brady.
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"Model-Based Control of a Robot Manipulator" presents the first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control. The authors' work on automatic identification of kinematic and dynamic parameters, feedforward position control, stability in force control, and trajectory learning has significant implications for improving performance in future robot systems. All of the main ideas discussed in this book have been validated by experiments on a direct-drive robot arm.The book addresses the issues of building accurate robot models and of applying them for high performance control. It first describes how three sets of models - the kinematic model of the links and the inertial models of the links and of rigid-body loads - can be obtained automatically using experimental data. These models are then incorporated into position control, single trajectory learning, and force control. The MIT Serial Link Direct Drive Arm, on which these models were developed and applied to control, is one of the few manipulators currently suitable for testing such concepts.Contents: Introduction. Direct Drive Arms. Kinematic Calibration. Estimation of Load Inertial Parameters. Estimation of Link Inertial Parameters. Feedforward and Computed Torque Control. Model-Based Robot Learning. Dynamic Stability Issues in Force Control. Kinematic Stability Issues in Force Control. Conclusion.Chae An is Research Staff Member, IBM T.J. Watson Research Center, Christopher Atkeson is an Assistant Professor and John Hollerbach is an Associate Professor in the MIT Department of Brain and Cognitive Sciences and the MIT Artificial Intelligence Laboratory. "Model-Based Control of a Robot Manipulator" is included in the Artificial Intelligence Series edited by Patrick Winston and Michael Brady.
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Model-Based Control of a Robot Manipulator
Verlag:
MIT Press, Cambridge, Ma, 1988
ISBN 10: 0262011026
ISBN 13: 9780262011020
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Hardcover
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Cloth in jacket, slightly musty, else quite good. Bestandsnummer des Verkäufers 019080
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Model-Based Control of a Robot Manipulator (Artificial Intelligence Series)
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Zustand: Gut. 1. Alle Bücher & Medienartikel von Book Broker sind stets in gutem & sehr gutem gebrauchsfähigen Zustand. Die Ausgabe des gelieferten Exemplars kann um bis zu 10 Jahre vom angegebenen Veröffentlichungsjahr abweichen und es kann sich um eine abweichende Auflage handeln. Unser Produktfoto entspricht dem hier angebotenen Artikel, dieser weist folgende Merkmale auf: Helle/saubere Seiten in fester Bindung. Mit Schutzumschlag in gutem Zustand. Mit Namenseintrag. Sprache: Englisch Gewicht in Gramm: 600 Gebundene Ausgabe, Maße: 20 cm x 1.5 cm x 25 cm. Bestandsnummer des Verkäufers 661284810
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