By Chenguang Yang, Hongbin Ma, Mengyin Fu
This ebook provides in a scientific demeanour the complicated applied sciences used for varied smooth robotic purposes. by way of bringing clean rules, new strategies, novel equipment and instruments into robotic regulate, robotic imaginative and prescient, human robotic interplay, teleoperation of robotic and a number of robots process, we're to supply a cutting-edge and finished therapy of the complicated applied sciences for a variety of robot functions. rather, we specialise in the subjects of complicated regulate and challenge avoidance suggestions for robotic to house unknown perturbations, of visible servoing suggestions which allow robotic to autonomously function in a dynamic atmosphere, and of complicated thoughts desirous about human robotic interplay. The ebook is essentially meant for researchers and engineers within the robot and keep an eye on neighborhood. it may well additionally function complementary examining for robotics on the either graduate and undergraduate levels.
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Extra info for Advanced Technologies in Modern Robotic Applications
Springer, Heidelberg (2009) 20. : Introduction to Robotics. Addison-Wesley Longman Publishing, Boston (1991) 21. : Kinematic modeling and experimental verification of Baxter robot.
The second experiment demonstrates the accuracy of the kinematic model. 1 Experiment Test 1 Given a Baxter robot manipulator, if all the seven joint angels (θ1 , θ2 , . . θ7 ) are known, then we can calculate the Cartesian position and orientation of the robot. To test the accuracy of the kinematic model, we create the Baxter® robot arm that are put to several postures, retrieving the joint angular value (θ1 , θ2 , . . θ7 ) and the position and orientation in Cartesian space (xr , yr , zr ). Then, input joint angles to our mathematical model and calculate Cartesian position (xm , ym , z m ) using forward kinematics.
An = 0A1 1A2 . . 3) 0 n where X = [x, y, z, 1]T is an augmented vector of Cartesian coordinate. Using the DH description of a robot and the Robotics Toolbox as introduced in Sect. , joints configuration for a certain pose and the Jacobian matrix . 2 Kinematics Modeling Procedure Recalling Sect. 1, the Baxter robot consists of a torso based on a movable pedestal and two 7 DOF arms installed on left/right arm mounts, respectively. Next, we will build the kinematics model, the Baxter robot. The modeling procedure of kinematics of the Baxter® robot includes the following steps .
Advanced Technologies in Modern Robotic Applications by Chenguang Yang, Hongbin Ma, Mengyin Fu