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Description of  Robot Control and Calibration: Innovative Control Schemes and Calibration Algorithms (SpringerBriefs in Computer Science)

9819957656 pdf 9819957656 pdf 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. Read more