| 書目名稱 | Kinematic Modeling, Identification, and Control of Robotic Manipulators | | 編輯 | Henry W. Stone | | 視頻video | http://file.papertrans.cn/544/543017/543017.mp4 | | 叢書名稱 | The Springer International Series in Engineering and Computer Science | | 圖書封面 |  | | 描述 | 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. | | 出版日期 | Book 1987 | | 關(guān)鍵詞 | algorithms; complexity; control; design; development; industrial robot; kinematics; measurement; modeling; pr | | 版次 | 1 | | doi | https://doi.org/10.1007/978-1-4613-1999-3 | | isbn_softcover | 978-1-4612-9193-0 | | isbn_ebook | 978-1-4613-1999-3Series ISSN 0893-3405 | | issn_series | 0893-3405 | | copyright | Kluwer Academic Publishers 1987 |
The information of publication is updating
書目名稱Kinematic Modeling, Identification, and Control of Robotic Manipulators影響因子(影響力)
書目名稱Kinematic Modeling, Identification, and Control of Robotic Manipulators影響因子(影響力)學科排名
書目名稱Kinematic Modeling, Identification, and Control of Robotic Manipulators網(wǎng)絡(luò)公開度
書目名稱Kinematic Modeling, Identification, and Control of Robotic Manipulators網(wǎng)絡(luò)公開度學科排名
書目名稱Kinematic Modeling, Identification, and Control of Robotic Manipulators被引頻次
書目名稱Kinematic Modeling, Identification, and Control of Robotic Manipulators被引頻次學科排名
書目名稱Kinematic Modeling, Identification, and Control of Robotic Manipulators年度引用
書目名稱Kinematic Modeling, Identification, and Control of Robotic Manipulators年度引用學科排名
書目名稱Kinematic Modeling, Identification, and Control of Robotic Manipulators讀者反饋
書目名稱Kinematic Modeling, Identification, and Control of Robotic Manipulators讀者反饋學科排名
|
|
|
|Archiver|手機版|小黑屋|
派博傳思國際
( 京公網(wǎng)安備110108008328)
GMT+8, 2025-10-7 19:44
發(fā)表于 2025-3-21 18:51:12
