rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Control of Robot Manipulators in Joint Space
  name:
    name part: Kelly, Rafael.
    role:
      role term: creator
    role:
      role term: author.
  name:
    name part: Davila, Victor Santibáñez.
    role:
      role term: author.
  name:
    name part: Loría, Antonio.
    role:
      role term: author.
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: xxk
    date issued: 2005
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: XXVI, 426 p. 110 illus. online resource.
  abstract: Robot control is the backbone of robotics, an essential discipline in the maintenance of high quality and productivity in modern industry. The most common method of control for industrial robotic manipulators relies on the measurement and amendment of joint displacement: so-called "joint-space control". Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the text’s four parts: • robot dynamics and mathematical preliminaries; • set-point model-based control; • tracking model-based control; and • adaptive and velocity-independent control a complete course in robot control based on joint space can be constructed for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used throughout to test the examined controllers by experimentation. In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual. All of this labour-saving supplementary material can be downloaded from springeronline.com.
  table of contents: Preliminaries -- to Part I -- What Does “Control of Robots” Involve? -- Mathematical Preliminaries -- Robot Dynamics -- Properties of the Dynamic Model -- Case Study: The Pelican Prototype Robot -- Position Control -- to Part II -- Proportional Control plus Velocity Feedback and PD Control -- PD Control with Gravity Compensation -- PD Control with Desired Gravity Compensation -- PID Control -- Motion Control -- to Part III -- Computed-torque Control and Computed-torque+ Control -- PD+ Control and PD Control with Compensation -- Feedforward Control and PD Control plus Feedforward -- Advanced Topics -- to Part IV -- P“D” Control with Gravity Compensation and P“D” Control with Desired Gravity Compensation -- to Adaptive Robot Control -- PD Control with Adaptive Desired Gravity Compensation -- PD Control with Adaptive Compensation.
  note: by Rafael Kelly, Victor Santibáñez Davila, Antonio Loría.
  subject:
    topic: Engineering
  subject:
    topic: Computers
  subject:
    topic: Computer simulation
  subject:
    topic: Machinery
  subject:
    topic: Control engineering
  subject:
    topic: Robotics
  subject:
    topic: Mechatronics
  subject:
    topic: Electrical engineering
  subject:
    topic: Engineering
  subject:
    topic: Electrical Engineering
  subject:
    topic: Control
  subject:
    topic: Theory of Computation
  subject:
    topic: Control, Robotics, Mechatronics
  subject:
    topic: Simulation and Modeling
  subject:
    topic: Machinery and Machine Elements
  classification: TK1-9971
  classification: 621.3
  related item:
    title info:
      title: Springer eBooks
  related item:
    title info:
      title: Advanced Textbooks in Control and Signal Processing
  identifier: 9781852339999
  identifier: http://dx.doi.org/10.1007/b135572
  record info:
    record creation date: 100301
    record change date: 20151204162618.0
    record identifier: 978-1-85233-999-9