Đang chuẩn bị liên kết để tải về tài liệu:
Ebook CRC Press - Robotics and automation handbook (5th edition): Part 2

(BQ) Part 2 book "CRC Press - Robotics and automation handbook" has contents: Modeling and identification for robot motion control, robust and adaptive motion control of manipulators, sliding mode control of robotic manipulators, impedance and interaction control, robot simulation,.and other contents. | 14 Modeling and Identification for Robot Motion Control 14.1 14.2 Introduction Robot Modeling for Motion Control Kinematic Modeling • Friction Modeling 14.3 • Modeling of Rigid-Body Dynamics Estimation of Model Parameters Estimation of Friction Parameters • Estimation of BPS Elements • Design of Exciting Trajectory • Online Reconstruction of Joint Motions, Speeds, and Accelerations 14.4 14.5 ´ Dragan Kostic Technische Universiteit Eindhoven 14.6 Experimental Set-Up • Kinematic and Dynamic Models in Closed Form • Establishing Correctness of the Models • Friction Modeling and Estimation • Estimation of the BPS Dynamics Not Covered with the Rigid-Body Dynamic Model Bram de Jager Technische Universiteit Eindhoven Maarten Steinbuch Technische Universiteit Eindhoven Model Validation Identification of Dynamics Not Covered with a Rigid-Body Dynamic Model Case-Study: Modeling and Identification of a Direct-Drive Robotic Manipulator 14.7 • Conclusions 14.1 Introduction Accurate and fast motions of robot manipulators can be realized via model-based motion control schemes. These schemes employ models of robot kinematics and dynamics. This chapter discusses all the necessary steps a control engineer must take to enable high-performance model-based motion control. These steps are (i ) kinematic and rigid-body dynamic modeling of the robot, (ii) obtaining model parameters via direct measurements and/or identification, (iii) establishing the correctness of the models and validating the estimated parameters, and (iv) deducing to what extent the rigid-body model covers the real robot dynamics and, if needed for high-performance control, the identification of the dynamics not covered by the derived model. Better quality achieved in each of these steps contributes to higher performance of motion control. The robotics literature offers various tutorials on kinematic and dynamic modeling [1–4]. A number of modeling methods are available, meeting various requirements. As for .