robust nonlinear control of robot manipulator with uncertainties in kinematics dynamics and actuator models
Control of Robot Manipulators in Joint Space doc
... Library Cataloguing in Publication DataKelly, R. Control of robot manipulators in joint space. - (Advancedtextbooks in control and signal processing)1. Robots - Control systems 2. Manipulators ... robot manipulator perform a task and in materializing the results of this study in a lab prototype. In spite of the numerous existing commercial robots, robot control designis still a field of ... engineering and more specifically, in the area of automatic control. Fromthis interaction emerges what we call robot control. Loosely speaking (in this textbook), robot control consists in studying howto...
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control of robot manipulators in joint space r kelly v santibanez and a loria ppt
... List of Figures3.6 Input–output representation of a robot . . 733.7 Diagram of a robot with elastic joints 783.8 Link with an elastic joint 813.9 Example of a 2-DOF robot . 813.10 Example of ... topic of robot control. Robot control is the spine of robotics. It consists in studying how to make a robot manipulator do what it is desired to do automatically; hence, it consists in designing robot ... result, courses on robotics continue to gain interest and, following thedemands of modern industry, every year more and more program studies, fromengineering departments and faculties of universities...
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Control of Robot Manipulators in Joint Space - Part 1 pps
... presentrequirements of precision and rapidity of robot motion it has become neces-sary to use increasingly sophisticated control techniques. This class of control systems may include nonlinear and adaptive controllers.1.3 ... Control of Robot ManipulatorsThe simplest way to specify the movement of a manipulator is the so-called“point-to-point” method. This methodology consists in determining a series of points in ... working regime.2That is, they depend on the state variables and time. See Chapter 2.12 1 What Does Control of Robots” Involve?tailored for linear systems, in robot control. In view of this and...
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Control of Robot Manipulators in Joint Space - Part 2 pdf
... PD control with desired gravity compensation;• Proportional Integral Derivative (PID) control. BibliographyAmong books on robotics, robot dynamics and control that include the study of tracking ... Mechanics and control , Addison-Wesley, Reading, MA.• Spong M., Vidyasagar M., 1989, Robot dynamics and control , Wiley,New York.• Yoshikawa T., 1990, “Foundations of robotics: Analysis and control , ... 1993, Robot control: Dynamics, motion planning and analysis”, IEEE Press, New York.• Sciavicco L., Siciliano B., 2000, “Modeling and control of robot manipula-tors”, Second Edition, Springer-Verlag,...
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Control of Robot Manipulators in Joint Space - Part 3 docx
... The controllersthat we consider are, in order,• Computed torque control and computed torque+ control. • PD control with compensation and PD+ control. 244 11 PD+ Control and PD Control with ... basedcontrollers is that the stability theory of linear systems is far more developedthan that of nonlinear systems. In particular, the tuning of the gains of suchcontrollers is trivial since ... Forclarity of exposition each of these controllers is treated in separate sections.11.1 PD Control with Compensation In 1987 an adaptive controller to solve the motion control problem of robot manipulators...
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Control of Robot Manipulators in Joint Space - Part 4 potx
... Robot dynamics and control , John Wi-ley and Sons.• Stoten D. P., 1990, “Model reference adaptive control of manipulators”,John Wiley and Sons.• Slotine J. J., Li W., 1991, “Applied nonlinear ... 317masses, inertias and distances of the centers of mass of the links but rather, itis linear in terms of the dynamic parameters θ which in general, are nonlinear functions of the physical parameters. ... many nonlinear systems and is commonlyknown as certainty equivalence.BibliographyThe first adaptive control system with a rigorous proof of stability for theproblem of motion control of robots,...
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Control of Robot Manipulators in Joint Space - Part 5 pptx
... control engineering”, Prentice-Hall.• Spong M., Vidyasagar M., 1989, Robot dynamics and control , John Wi-ley and Sons, Inc.Various nonlinear models of friction for DC motors are presented in • ... 71elastic joints . . 77 with actuators. . . . . 82 with elastic joints . 89 with friction . . . . 75 dynamics . . . . . 88inverse kinematic. 61, 116 kinematics . . . 88moment of inertia . . ... feedforward control 269PD+ control . . . 248PID control 201Slotine and Li . 244 control P“D” with gravity compensationclosed loop. . 294 control law. . . . . 293controller. . . 136, 224coordinatesCartesian...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 1 ppt
... representation of a robot . . 733.7 Diagram of a robot with elastic joints 783.8 Link with an elastic joint 813.9 Example of a 2-DOF robot . 813.10 Example of a 2-DOF robot . 823.11 Diagram of a DC ... Library Cataloguing in Publication DataKelly, R. Control of robot manipulators in joint space. - (Advancedtextbooks in control and signal processing)1. Robots - Control systems 2. Manipulators ... between robotics and electri-cal engineering and more specifically, in the area of automatic control. Fromthis interaction emerges what we call robot control. Loosely speaking (in this textbook), robot...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 2 potx
... measurementnoise. In robot control we are often interested in studying the performance of controllers, considering any initial configuration for the robot. For this, weneed to study global definitions of stability.Definition ... f)=q˙qwhile τ is the input. In this case notice that for robots with n joints one has, in general, 2n outputs and n inputs. ROBOT ✲✲✲˙Figure 1.5. Input–output representation of a robot 1.2 Dynamic ... on Robotics and Automation3,• IEEE Transactions on Robotics,• Journal of Intelligent and Robotic Systems,• Journal of Robotic Systems,• Mechatronics,• The International Journal of Robotics...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 3 doc
... =⎡⎢⎣x1x2...xm⎤⎥⎦q2z0x0y0joint 2link 1joint 1link 2joint nlink nFigure 3.1. Abstract diagram of an n-DOF robot manipulator Consider the generic configuration of an articulated arm of n links shown in Figure 3.1. In ... analytique”2.Consider the robot manipulator with n links depicted in Figure 3.1. Thetotal energy E of a robot manipulator of n DOF is the sum of the kinetic and potential energy functions, K and U respectively, ... components of the velocity vector of thecenter of mass of link 2. The latter are obtained by evaluating thetime derivative of the positions x2 and y2 of the center of mass of link2, i.e.x2=...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 4 docx
... this constitutes a set of nonlinear differential equations of theform (3.1). In view of this nonlinear nature, the concept of stability of a robot in open loop must be handled with care.We emphasize ... actuatorstransmitting the motion through gears in the first case, and through gear and belt in the second.Actuators with Linear Dynamics In certain situations, some types of electromechanical actuators ... .The dynamics of the actuators must be taken into account in the model of a robot, whenever these dynamics are not negligible with respect to that of the robot. Specifically for robots which are intended...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 5 pot
... more intuitive to specify a task for a robot in end-effector coordinates sothat interest in the inverse kinematics problem increases with the complexity of the manipulator (number of degrees of ... study, the topics of direct kinematics and inverse kinematics, which are fundamental in determining robot models. For the Pelican, we derive the full dynamic model of the prototype; in par-ticular, ... for control. 5.2 Inverse Kinematics The inverse kinematic model of robot manipulators is of great importancefrom a practical viewpoint. This model allows us to obtain the joint positionsq in...
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