Model-Based Control of a Robot Manipulator [Minkštas viršelis]

Model-Based Control of a Robot Manipulator presents the first integrated treatment ofmany of the most important recent developments in using detailed dynamic models of robots to improvetheir control. The authors' work on automatic identification of kinematic and dynamic parameters,feedforward position control, stability in force control, and trajectory learning has significantimplications for improving performance in future robot systems. All of the main ideas discussed inthis book have been validated by experiments on a direct-drive robot arm.The book addresses theissues of building accurate robot models and of applying them for high performance control. It firstdescribes how three sets of models - the kinematic model of the links and the inertial models of thelinks and of rigid-body loads - can be obtained automatically using experimental data. These modelsare then incorporated into position control, single trajectory learning, and force control. The MITSerial Link Direct Drive Arm, on which these models were developed and applied to control, is one ofthe few manipulators currently suitable for testing such concepts.Contents: Introduction. DirectDrive Arms. Kinematic Calibration. Estimation of Load Inertial Parameters. Estimation of LinkInertial Parameters. Feedforward and Computed Torque Control. Model-Based Robot Learning. DynamicStability Issues in Force Control. Kinematic Stability Issues in Force Control. Conclusion.Chae Anis Research Staff Member, IBM T.J. Watson Research Center, Christopher Atkeson is an AssistantProfessor and John Hollerbach is an Associate Professor in the MIT Department of Brain and CognitiveSciences and the MIT Artificial Intelligence Laboratory. Model-Based Control of a Robot Manipulatoris included in the Artificial Intelligence Series edited by Patrick Winston and MichaelBrady.

The first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control.