Control of Robot Manipulators in Joint Space

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Control of Robot Manipulators in Joint Space

Kelly, Rafael. - Nama Orang; Loría Perez, Julio Antonio. - Nama Orang; Santibáñez Davila, Victor. - Nama Orang;

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.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.

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Judul Seri: -
No. Panggil: -
Penerbit: London : Springer., 2005
Deskripsi Fisik: XXVI, 426 p. 110 illus.online resource.
Bahasa: English
ISBN/ISSN: 9781852339999
Klasifikasi: 621.3
Tipe Isi: -
Tipe Media: -
Tipe Pembawa: -
Edisi: 1st ed.
Subjek: COMPUTERS.
Computer simulation.
Simulation and Modeling.
Electrical engineering.
Theory of Computation.
Control engineering.
Control and Systems Theory.
Robotics.
Mechatronics.
Control, Robotics, Mechatronics.
Machinery.
Machinery and Machine Elements.
Info Detail Spesifik: -
Pernyataan Tanggungjawab: Rafael Kelly, Victor Santibáñez Davila, Julio Antonio Loría Perez.

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