Control of Robot Manipulators in Joint Space - R Kelly, V Santibanez and A Loria Part 2 potx

... Edition, Springer-Verlag, London. 2. 1 Linear Algebra 23 Obviously, any diagonal matrix is symmetric. In the particular case when a 11 = a 22 = ··· = a nn = a, the corresponding diagonal matrix is ... control, variable-structure control, learning control, fuzzy control and neural-networks-based. These topics, which demand a deeper knowledge of control and stabilit...

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... “Lyapunov– based control of mechanical systems”, Birkh¨auser, Boston, MA. A particularly relevant work on robot motion control and which covers in a unified manner most of the controllers that are ... 2. 3, 2. 4 and 2. 7. In particular, verification of the required properties, i.e. positivity and negativity of the time derivative. 5. Alternatively to step 4, in...

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... 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...

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... 1 link 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 ... other hand, K 2 (q, ˙ q)= 1 2 m 2 v 2 2 + 1 2 I 2 ˙q 2 2 , where v 2 is the speed of the center of mass of link 2. This speed squared, i.e....

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... good controller for the 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 ... that the model in compact 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...

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... this textbook, the reader should not worry about singular configurations since the Jacobian is not used at all: the reference trajectories are given in joint coor- dinates and we measure joint coordinates. ... coordinates as for our prototype. 5.3.1 Lagrangian Equations Consider the 2- DOF robot manipulator shown in Figure 5 .2. As we have learned from Chapter 3, to derive the Lag...

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... frequency for the evaluation of the PD -part, and a low frequency for the evaluation of g(q(t)). An alternative solution consists in using a variant of this controller, the so-called PD control ... 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...

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... 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 the advanced ... motion control problem of robot manipulators was reported in the literature. This controller, which over the years has become increasingly popular within the acade...

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... “Dynamics and control of a closed-chain robot with application to a new direct-drive robot arm”, International Jour- nal of Robotics and Automation, Vol. 6, No. 1. • Tarn T. J., Bejczy A. K., Marth ... robustness with respect to parametric and structural uncertainties, performance degra- dation in the presence of external perturbations, etc. In Figure 12. 1 we prese...

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... 314 14 Introduction to Adaptive Robot Control Certainly one may consider other variants such as adaptive control for systems with time-varying parameters, or robust adaptive control for systems with ... generalized coordinates and its derivatives) and the vector of dynamic parameters, θ. This property is commonly known as “linearity in the parameters” or “lin- ear parameteriza...

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