SpringerBriefs in Computer Science Robot Control and Calibration - Xin Luo Zhibin Li Long Jin Shuai Li Kartoniert (TB)

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 ant ennae 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 conducting calibration 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.