Due to the importance to model-based control, dynamic parameter identification has
attracted much attention. However, until now, there is still much work for the identification of …

Reducing the energy consumption of industrial robots (IR) that are used in manufacturing
systems has become a main focus in the development of green production systems. This is …

Abstract Model-based, torque-level control can offer precision and speed advantages over
velocity-level or position-level robot control. However, the dynamic parameters of the robot …

This chapter discusses how to determine the kinematic parameters and the inertial
parameters of robot manipulators. Both instances of model identification are cast into a …

Offline robot dynamic identification methods are mostly based on the use of the inverse
dynamic model, which is linear with respect to the dynamic parameters. This model is …

This book starts with a short recapitulation on basic concepts, common to any types of robots
(serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic …

This paper presents a wearable upper body exoskeleton system with a model-based
compensation control framework to support robot-aided shoulder-elbow rehabilitation and …

Along with the traditional motion control demands, human–machine collaboration properties
are becoming increasingly important in modern robotic control system. The collaboration …

This study discusses the design and assessment of different parameter identification
methods applied to robot systems, such as least squares, extended Kalman filter, Adaptive …

With the increasing complexity of robot tasks in the industrial field, sometimes the
manipulator needs to change the payload or replace end-effectors frequently in a period of …