Control of Robot Manipulators in Joint Space - R Kelly, V Santibanez and A Loria Part 1 ppt

... clearly identify those variables that are available and that have an in uence on the behavior of the system and more particularly, on its outputs. These variables are referred to as inputs and ... for industrial robot manipulators is the Propor- tional Integral Derivative (PID) controller. In general, this type of controller x Series Editors’ Foreword the narrative as and w...

Ngày tải lên: 10/08/2014, 01:23

... some readers; in particular, for a senior course on robot control since it makes use of results involving con- cepts such as ‘functional spaces’, material exposed in Appendix A and reserved for ... 2 Figure 11 .2. Diagram of the Pelican robot Example 11 .1. Consider the Pelican robot presented in Chapter 5, and shown in Figure 11 .2. The numerical values of it...

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... Figure 15 .2. Graphs of adaptive parameters ˆ θ 1 and ˆ θ 2 in Figure 15 .2 where we appreciate that both parameters tend to val- ues which are relatively near the unknown values of θ 1 and θ 2 , ... control objective is achieved globally. That is, for any initial position error ˜ q(0) ∈ IR n velocity error ˙ ˜ q(0) ∈ IR n , and arbitrary uncertainty over the dynamic para...

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... q m : angular position of the axis of the motor (rad) • q : angular position of the axis of the mechanical load 1 (rad) • r : gears reduction ratio (in general r  1) • v : armature voltage (V) . The ... robotics applications are permanent-magnet direct-current motors (DC). K a ,K b ,R a v J m f m 1 :r qτ Figure D .1. DC motor An idealized mathematical model that...

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... control) are studied in the first part of the book • Ortega R. , Lor´ a A., Nicklasson P. J. and Sira-Ram´ırez H., 19 98, “Passivity- based control of Euler-Lagrange Systems Mechanical, Electrical and ... control of robot manipula- tors”, Second Edition, Springer-Verlag, London. 2 .1 Linear Algebra 23 Obviously, any diagonal matrix is symmetric. In the particular cas...

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... 2 joint n link n Figure 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 order to derive the mathematical ... analysis, stability and control , Springer- Verlag, New York. Other references on differential equations and stability in the sense of Lyapunov are: • Arnold V. , 19...

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... actuators is also appropriate to control robots having such actuators and geared transmissions with a high reduction ratio. It is important to remark that the parameters involved in Equation (3.30) depend ... form may be rewritten in the state -space form. As a matter of fact, this property is not limited to particular examples but stands as a fact for robot manipulators...

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... Robotica, Vol. 19 , pp. 11 19 . For other properties of robot manipulators not mentioned here and rele- vant to control, see • Ortega R. , Lor´ a A., Nicklasson P. J., Sira-Ram´ırez H., 19 98, “Passivity- based ... present now the derivation of certain bounds on the inertia matrix, the ma- trix of centrifugal and Coriolis forces and the vector of gravitational torques....

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... the inertia matrix, C(q, ˙ q) ˙ q ∈ IR n is the vector of centrifugal and Coriolis forces, g(q) ∈ IR n is the vector of gravitational forces and torques and τ ∈ IR n is a vector of external forces ... Nagarkatti S. P., Zhang F., 2000, “Lyapunov– based control of mechanical systems”, Birkh¨auser, Boston, MA. A particularly relevant work on robot motion control and whi...

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... inertia ma- trix M(q) and the vector of gravitational torques g(q). Naturally, we assume here that the position q(t), the velocity ˙ q(t) and, in particular at the instant t = 0, are measured by appropriate ... control law at two sampling frequencies: a high frequency for the evaluation of the PD -part, and a low frequency for the evaluation of g(q(t)). An alternative solut...

Ngày tải lên: 10/08/2014, 01:23