Robot Control and Calibration
Produktnummer:
18b1de3a9ff8104e62bb85ac055c182224
Autor: | Jin, Long Li, Shuai Li, Zhibin Luo, Xin |
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Themengebiete: | Evolutionary computing algorithm Recurrent neural network Robot calibration Robot control Robot kinematic model |
Veröffentlichungsdatum: | 26.09.2023 |
EAN: | 9789819957651 |
Sprache: | Englisch |
Seitenzahl: | 125 |
Produktart: | Kartoniert / Broschiert |
Verlag: | Springer Singapore |
Untertitel: | Innovative Control Schemes and Calibration Algorithms |
Produktinformationen "Robot Control and Calibration"
This book mainly shows readers how to calibrate and control robots. In this regard, it proposes three control schemes: an error-summation enhanced Newton algorithm for model predictive control; RNN for solving perturbed time-varying underdetermined linear systems; and a new joint-drift-free scheme aided with projected ZNN, which can effectively improve robot control accuracy. Moreover, the book develops four advanced algorithms for robot calibration – Levenberg-Marquarelt with diversified regularizations; improved covariance matrix adaptive evolution strategy; quadratic interpolated beetle antennae search algorithm; and a novel variable step-size Levenberg-Marquardt algorithm – which can effectively enhance robot positioning accuracy.In addition, it is exceedingly difficult for experts in other fields to conduct robot arm calibration studies without calibration data. Thus, this book provides a publicly available dataset to assist researchers from other fields in conductingcalibration experiments and validating their ideas. The book also discusses six regularization schemes based on its robot error models, i.e., L1, L2, dropout, elastic, log, and swish. Robots’ positioning accuracy is significantly improved after calibration. Using the control and calibration methods developed here, readers will be ready to conduct their own research and experiments.

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