Control of Robot Manipulators in Joint Space

• Κύριοι συγγραφείς: Kelly, Rafael (Συγγραφέας), Davila, Victor Santibáñez (Συγγραφέας), Loría, Antonio (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: London : Springer London, 2005.
• Σειρά: Advanced Textbooks in Control and Signal Processing,
• Θέματα: Engineering.; Computers.; Computer simulation.; Machinery.; Control engineering.; Robotics.; Mechatronics.; Electrical engineering.; Electrical Engineering.; Control.; Theory of Computation.; Control, Robotics, Mechatronics.; Simulation and Modeling.; Machinery and Machine Elements.

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...

Πίνακας περιεχομένων:

• 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.