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Modeling, Identification and Control of Robots : W. Khalil :
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Modeling, Identification and Control of Robots
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ISBN 13: 9781903996133
FAQ Policy. About this book 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. Show all. Show next xx. Manufacturing error in the machining and assembly of manipulators lead to discrepancies between the design parameters and the physical structure.
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.
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