[...]... Linear-in-the-parameter neural nets 8.3 Tracking Control Using Static Neural Networks Robot Arm Dynamics and Error System Adaptive Control Neural Net Feedback Tracking Controller 8.4 Tuning Algorithms for Linear-in-the-Parameters NN 8.5 Tuning Algorithms for Nonlinear-in-the-Parameters NN Passivity Properties of NN Controllers Passivity of the Robot Tracking Error Dynamics Passivity Properties of 2-layer... 321 324 6 Adaptive Control of Robotic Manipulators 6.1 Introduction 6.2 Adaptive Control by a Computed-Torque Approach Approximate Computed-Torque Controller Adaptive Computed-Torque Controller 6.3 Adaptive Control by an Inertia-Related Approach Examination of a PD Plus Gravity Controller Adaptive Inertia-Related Controller 6.4 Adaptive Controllers Based on Passivity Passive Adaptive Controller General... Robot Controllers 4.4 Computed-Torque Control Derivation of Inner Feedforward Loop PD Outer-Loop Design PID Outer-Loop Design Class of Computed-Torque-Like Controllers PD-Plus-Gravity Controller Classical Joint Control 4.5 Digital Robot Control Guaranteed Performance on Sampling Discretization of Inner Nonlinear Loop Joint Velocity Estimates from Position Measurements Discretization of Outer PD/PID Control. .. 2-layer NN Controllers Passivity Properties of 1-Layer NN Controllers 8.6 Summary References 431 431 433 433 437 440 440 442 443 445 449 453 453 455 458 458 459 9 Force Control 9.1 Introduction 9.2 Stiffness Control Stiffness Control of a Single-Degree-of-Freedom Manipulator The Jacobian Matrix and Environmental Forces Stiffness Control of an N-Link Manipulator 9.3 Hybrid Position/Force Control Hybrid... 250 251 xiv CONTENTS References Problems 253 257 5 Robust Control of Robotic Manipulators 5.1 Introduction 5.2 Feedback-Linearization Controllers Lyapunov Designs Input-Output Designs 5.3 Nonlinear Controllers Direct Passive Controllers Variable-Structure Controllers Saturation-Type Controllers 5.4 Dynamics Redesign Decoupled Designs Imaginary Robot Concept 5.5 Summary References Problems 263 263 265... Commercial Robot Manipulators Figure 1.2.7: Parallel-link robot (courtesy of ABB Robotics) 1.3 Commercial Robot Controllers Commercial robot controllers are specialized multiprocessor computing systems that provide four basic processes allowing integration of the robot into an automation system: Motion Trajectory Generation and Following, Motion/Process Integration and Sequencing, Human User integration, and. .. of automation controllers (http://www.adept.com) integrates robotics, motion control, machine vision, force sensing, and manufacturing Copyright © 2004 by Marcel Dekker, Inc 1.3 Commercial Robot Controllers 11 logic in a single control platform compatible with Windows 98 & Windows NT/2000 Adept motion controllers can be configured to control other robots and custom mechanisms, and are standard on a... Generation and Following There are two important controller-related aspects of industrial robot motion generation One is the extent of manipulation that can be programmed, the other is the ability to execute controlled programmed motion A unique aspect of each robot system is its real-time servo-level motion control The details of real-time control are typically not revealed to the user due to safety and. .. reasons Each robot controller, through its operating system programs, converts digital data from higher-level coordinators into coordinated arm motion through precise computation and high-speed distribution and communication of the individual axis motion commands which are executed by individual joint servo-controllers Most commercial robot controllers operate at a sample period of 16 msec The real-time motion... Commercial Robot Controllers 1.4 Sensors Types of Sensors Sensor Data Processing References 1 1 2 3 3 4 9 10 12 13 16 19 2 Introduction to Control Theory 2.1 Introduction 2.2 Linear State-Variable Systems Continuous-Time Systems Discrete-Time Systems 2.3 Nonlinear State-Variable Systems Continuous-Time Systems Discrete-Time Systems 2.4 Nonlinear Systems and Equilibrium Points 2.5 Vector Spaces, Norms, and . Digital Robot Controllers 182 4.4 Computed-Torque Control 185 Derivation of Inner Feedforward Loop 185 PD Outer-Loop Design 188 PID Outer-Loop Design 197 Class of Computed-Torque-Like Controllers. techniques including learning control and arms with flexible joint coupling. Modern intelligent control techniques based on biological systems have solved many problems in the control of complex systems,. K.Najlm, and E.Gómez-Ramírez 5. Robust Control and Filtering for Time-Delay Systems, Magdi S.Mahmoud 6. Classical Feedback Control: With MATLAB, Boris J.Lurie and Paul J. Enright 7. Optimal Control