Robot Control and Calibration / SpringerBriefs in Computer Science (PDF)
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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 conductingcalibration 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.
Dr. Zhibin Li is currently studying for the PhD degree in computer science from Chongqing University of Posts and Telecommunications united training by the Chongqing institute of green and intelligent technology, Chinese academy of sciences, Chongqing, China. His research interests include robot calibration, big data analysis and algorithm design for large-scale data applications. He has published over six SCI/EI papers, including top journals and conferences like IEEE TNNLS, JAS, RAL, and TCASII in the computer field.
Dr. Long Jin joined the School of Information Science and Engineering, Lanzhou University, as a professor of computer science and engineering. He is currently serving as an editor for the Chinese Association for Artificial Intelligence (CAAI) Transactions on
Dr. Shuai Li is an associate professor (Reader) at University of Oulu, Oulu, Finland. His research interests include robot manipulation and impedance control, multi-robot coordination, and articulated robot calibration.
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