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... diagram of an n -DOF robot manipulator of a 4 -DOF robotof a 1 -DOF mechanism of a 2 -DOF robotof ... topic ofrobotcontrolRobotcontrol is the spine of robotics It consists in studying how to make a robot manipulator what it is desired to automatically; hence, it consists in designing robot controllers ... the number of joints of a manipulator determines also its number of degrees of freedom (DOF ) Typically, a manipulator possesses DOF, among which determine the position of the end of the last...
... diagram of an n -DOF robot manipulator of a 4 -DOF robotof a 1 -DOF mechanism of a 2 -DOF robotof ... topic ofrobotcontrolRobotcontrol is the spine of robotics It consists in studying how to make a robot manipulator what it is desired to automatically; hence, it consists in designing robot controllers ... the number of joints of a manipulator determines also its number of degrees of freedom (DOF ) Typically, a manipulator possesses DOF, among which determine the position of the end of the last...
... diagram of an n -DOF robot manipulator of a 4 -DOF robotof a 1 -DOF mechanism of a 2 -DOF robotof ... topic ofrobotcontrolRobotcontrol is the spine of robotics It consists in studying how to make a robot manipulator what it is desired to automatically; hence, it consists in designing robot controllers ... the number of joints of a manipulator determines also its number of degrees of freedom (DOF ) Typically, a manipulator possesses DOF, among which determine the position of the end of the last...
... an analysis of PD control for n -DOF robot manipulators The behavior of an n -DOF robot in closed-loop with PD control is determined by combining the model Equation (II.1) with the control law ... study position controllers (set-point controllers) and in Part III we study motion controllers (tracking controllers) Consider the dynamic model of a robot manipulator with n DOF, rigid links, ... the PD controller of n -DOF robots Assume that the vector of desired positions q d is constant • If the vector of gravitational torques g(q) is absent in the robot model, then the origin of the...
... Pelican 2 -DOF robot under PD+ control Example 11.3 Consider the 2 -DOF prototype robot studied in Chapter 5, and shown in Figure 11.2 Consider the application of PD control+ (11.7) to this robot The ... study of the feedforward controlof a 3DOF Cartesian robot The dynamic model of this manipulator is an innocuous linear system 12.1 Feedforward Control 267 Example 12.2 Consider the 3 -DOF Cartesian ... The problem of motion control, tracking control, for robot manipulators may be formulated in the following terms Consider the dynamic model of an ˙ ¨ n -DOF robot (III.1) Given a set of vectorial...
... controlwith gravity compensation and P“D” controlwith desired gravity compensation; • Introduction to adaptive robot control; • PD controlwith adaptive gravity compensation; • PD controlwith ... tracking controlof one degree of freedom Eulerıa Lagrange systems without velocity measurements”, European Journal of Control, Vol 2, No 2, June This result was extended to the case of n -DOF robots ... example of a planar 2 -DOF robot This robot is used in succeeding chapters with the aim of illustrating different adaptive controllers Example 14.6 Consider the planar manipulator having two DOF illustrated...
... (D.12) where • J : arm inertia (without load) • mb : arm mass (without load) • lb : distance from the axis of rotation to the center of mass of the arm (without load) D Dynamics of Direct-current ... − y z w , ♦♦♦ 410 C Proofs of Some Properties of the Dynamic Model Proof of Property 4.3.3 The proof of inequality (4.10) follows invoking Theorem A.3 Since the vector of gravitational torques ... computed-torque control 228 420 Index feedforward control 265 generic adaptive controlof robots 329 P“D” controlwith gravity compensation 293 PD control...
... diagram of an n -DOF robot manipulator of a 4 -DOF robotof a 1 -DOF mechanism of a 2 -DOF robotof ... topic ofrobotcontrolRobotcontrol is the spine of robotics It consists in studying how to make a robot manipulator what it is desired to automatically; hence, it consists in designing robot controllers ... the number of joints of a manipulator determines also its number of degrees of freedom (DOF ) Typically, a manipulator possesses DOF, among which determine the position of the end of the last...
... Chapter 12 What Does Controlof Robots” Involve? tailored for linear systems, in robotcontrol In view of this and the present requirements of precision and rapidity ofrobot motion it has become ... trajectory tracking control Let us briefly recapitulate a simple formulation ofrobotcontrol which, as a matter of fact, is a particular case of motion control; that is, the position control problem ... Transactions on Robotics and Automation3 , IEEE Transactions on Robotics, Journal of Intelligent and Robotic Systems, Journal of Robotic Systems, Mechatronics, The International Journal of Robotics...
... Abstract diagram of an n -DOF robot manipulator Consider the generic configuration of an articulated armof n links shown in Figure 3.1 In order to derive the mathematical model of a robot one typically ... latter is in accordance with the physical interpretation of the concept of equilibrium ♦ The following example illustrates the derivation of the dynamic model of the 2 -DOF robotwith revolute joints ... m1 τ2 q2 lc2 δ m2 I2 Figure 3.4 Example of a 2 -DOF robot Example 3.3 Consider the robot manipulator withDOF shown in Figure 3.4 This manipulator consists of two rigid links where l1 is the length...
... v2 q1 v1 Figure 3.9 Example of a 2 -DOF robot 82 Robot Dynamics v2 q2 q1 v1 Figure 3.10 Example of a 2 -DOF robot 3.5 Dynamic Model of Robots with Actuators On a real robot manipulator the torques ... allows us to express the dynamic model (3.18) of any robotof n DOF in terms of the ˙ state vector [q T q T ]T that is, as 3.3 Dynamic Model of Robots with Friction ⎡ ⎤ ⎡ ⎤ ˙ q q d ⎣ ⎦ ⎣ ⎦ = dt ... design of model-based robot controllers”, International Journal of Control, Vol 47, No 5, pp 1267–1275 Yoshikawa T., 1990, “Foundations of robotics Analysis and control , The MIT Press 90 • Robot...
... the position of the tip of the second link with respect to the base reference frame Notice that for the present case study of a 2 -DOF system, the orientation of the end-effector of the arm makes ... l2 Figure 5.2 Diagram of the 2 -DOF Pelican prototype robot I2 denote the moments of inertia of the links with respect to the axes that pass through the respective centers of mass and are parallel ... ˙ Case Study: The Pelican Prototype Robot The purpose of this chapter is twofold: first, to present in detail the model of the experimental robotarmof the Robotics lab from the CICESE Research...
... an analysis of PD control for n -DOF robot manipulators The behavior of an n -DOF robot in closed-loop with PD control is determined by combining the model Equation (II.1) with the control law ... the PD controller of n -DOF robots Assume that the vector of desired positions q d is constant • If the vector of gravitational torques g(q) is absent in the robot model, then the origin of the ... 1993, Controlofrobot manipulators”, Macmillan Pub Co Qu Z., Dawson D M., 1996, “Robust tracking controlofrobot manipulators”, IEEE Press, New York Arimoto S., 1996, Control theory of non–linear...
... variant of this controller, the so-called PD controlwith desired gravity compensation The study of this controller is precisely the subject of the present chapter The PD control law with desired ... achieved under PD controlwith desired gravity compensation on a 2 -DOF robot Example 8.3 Consider the 2 -DOF prototype robot studied in Chapter and illustrated in Figure 5.2 The components of the gravitational ... the blockdiagram of the PD control law with desired gravity compensation for robot manipulators Notice that the only difference with respect to the PD controller 172 PD Controlwith Desired Gravity...
... Pelican 2 -DOF robot under PD+ control Example 11.3 Consider the 2 -DOF prototype robot studied in Chapter 5, and shown in Figure 11.2 Consider the application of PD control+ (11.7) to this robot The ... may be used in the controlofrobot manipulators with a formal guarantee of the achievement of the motion control objective, globally The PD+ control law is given by 11.2 PD+ Control 249 ˙ ˜ ˙ ... These control systems are presented in increasing order of complexity with respect to their stability analyses They are: 244 11 PD+ Control and PD Controlwith Compensation • PD controlwith compensation...
... study of the feedforward controlof a 3DOF Cartesian robot The dynamic model of this manipulator is an innocuous linear system 12.1 Feedforward Control 267 Example 12.2 Consider the 3 -DOF Cartesian ... controlwith gravity compensation and P“D” controlwith desired gravity compensation; • Introduction to adaptive robot control; • PD controlwith adaptive gravity compensation; • PD controlwith ... with PD controlwith compensation were the first controls with rigorous proofs of global uniform asymptotic stability proposed for the motion control problem Problems 261 Consider the model of...
... tracking controlof one degree of freedom Eulerıa Lagrange systems without velocity measurements”, European Journal of Control, Vol 2, No 2, June This result was extended to the case of n -DOF robots ... example of a planar 2 -DOF robot This robot is used in succeeding chapters with the aim of illustrating different adaptive controllers Example 14.6 Consider the planar manipulator having two DOF illustrated ... respectively: robust control and adaptive control Roughly, the first aims at controlling, with a small error, a class ofrobot manipulators with the same robust controller That is, given a robot manipulator...
... control system with a rigorous proof of stability for the problem of motion controlof robots, as far as we know, was reported in • Craig J., Hsu P., Sastry S., 1986, “Adaptive controlof mechanical ... only part of the dynamic model of the robot; e.g PD controlwith gravity compensation In general an adaptive controller is formed of two main parts: • • control law or controller; adaptive (update) ... yields a nonadaptive controller), the resulting closed-loop system meets the control objective As a matter of fact, in the case ofcontrolofrobot manipulators nonadaptive control strategies that...
... “Comparative experiments with a new adaptive controller for robot arms”, IEEE Transactions on Robotics and Automation, Vol 9, No 1, p 59–70 An adaptive version of PD controlwith gravity compensation ... formulated control problem consists in applying PD controlwith adaptive compensation As is explained in Chapter 14, the structure of the adaptive controllers for motion controlofrobot manipulators ... corresponding to this adaptive controller ♦ We present next, the design of the PD control law with adaptive compensation, the Slotine and Li controller, for a planar 2 -DOF robot As the reader should...