Modelling and Identification in Robotics

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As the use and relevance of robotics for countless scientific purposes grows all the time, research into the many diverse elements of the subject becomes ever more important and in demand. This volume examines in-depth complex issues of modelling and identification of robot and load parameters, incorporating friction torques, discussing identification schemes, and presenting simulations and experiments as results of robot and load dynamic parameters identification. A general concept of robot programming language for research and educational purposes is examined and there is a detailed outline of its basic structures along with hardware requirements, which both constitute an open robot controller architecture. Finally a hybrid controller is derived, and several experimental results of this system are outlined. This discussion of the topic covers both the theoretical and practical, illustrated throughout by examples and experimental results, and should be of value to anyone researching or practising within the field of robotics.