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Kinematic Modeling, Identification, and Control of Robotic Manipulators

By Henry W. Stone
Paperback
$169.99
By Henry W. Stone
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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 desig...

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