EAN: 9789819957651

SPRINGERBRIEFS IN COMPUTER SCIENCE ROBOT CONT...

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 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.

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