Publisher's Synopsis
This book is both an analysis of robot dynamics - including methods for computerised modelling - and methods of robot control. It discusses the modelling of robot dynamics with regard to its value in on-line robot control, where computing efficiency is vital, and with regard to off-line simulations. Algorithms are presented to show the derivation of the most suitable computational methods, whilst a general simulation package for robots is developed, its operation and use being described at length.;The authors describe numerous possible control methods in the robot control section, particularly those involving dynamic compensation, discussing their relative merits and concluding that none of the proposed methods solve the problem satisfactorily: hence the reason why the simple positional control remains almost exclusively in use in commercial robotic systems.;The final part of the book proposes a self-tuning robotic controller, successfully implemented in the Imperial College Robot: when compared to other schemes, it is shown how this method offers marked advantages and improved performance during, amongst others, a high speed tracking of spatial trajectories.;This book will be of benefit to researchers and practitioners in robotics, artificial intelligence, computer science, electronic engineering, mechanical engineering and materials handling.
