Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 3 doc
control of robot manipulators in joint space r kelly v santibanez and a loria 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 ... address in great detail a range of model-based controllers such as: Pro-
portional Derivative (PD), Proportional Integral Derivative (PID), Computed
torque and some variants includi...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 1 ppt
... Textbooks in Control and Signal Processing series ISSN 14 3 9-2 232
ISBN -1 0 : 1- 8 523 3-9 9 4-2
ISBN -1 3 : 97 8 -1 -8 523 3-9 9 4-4
Springer Science+Business M edia
springeronline.com
â Springer-Verlag London ... representation of a robot . . 73
3.7 Diagram of a robot with elastic joints 78
3.8 Link with an elastic joint 81
3.9 Example of a 2-DOF robot...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 2 potx
... control, variable-structure control, learning
control, fuzzy control and neural-networks-based. These topics, which demand
a deeper knowledge of control and stability theory, may make part of a second
course ... Siciliano B., 20 00, Modeling and control of robot manipula-
tors”, Second Edition, Springer-Verlag, London.
2. 1 Linear Algebra 23
Obviously, any diagon...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 3 doc
... case.
x
0
z
0
z
1
q
1
q
2
z
2
z
3
q
3
z
4
q
4
y
0
x =
⎡
⎣
x
1
x
2
x
3
⎤
⎦
Figure 3. 2. Example of a 4-DOF robot
Example 3. 1. Figure 3. 2 shows a 4-DOF manipulator. The placement
of the axes z
i
as well as the joint coordinates, ... purposes, in the
vector of joint positions q. Consequently, for a robot with n joints, that is,
with n DOF (except for special cases, suc...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 4 docx
... 1987, Modeling and control of elastic joint robots”, ASME
Journal of Dynamic Systems, Measurement and Control, Vol. 109, De-
cember.
The topic of electromechanical actuator modeling and its consideration ... the first kind
c
jik
(q) and which is defined in (3.21).
3 .4 Dynamic Model of Elastic -joint Robots 77
sign(0) is crucial both from theoretical and practical vi...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 5 pot
... are given in joint coor-
dinates and we measure joint coordinates. This is what is called control in
joint space .
Thus, we leave the topic of kinematics to pass to the stage of modeling
that ... for control.
5. 2 Inverse Kinematics
The inverse kinematic model of robot manipulators is of great importance
from a practical viewpoint. This model allows us to obtain th...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 6 potx
... control
6. 1 Robots without Gravity Term 143
We present next an analysis of PD control for n-DOF robot manipulators.
The behavior of an n-DOF robot in closed-loop with PD control is deter-
mined ... reference-dependent.
In spite of the veracity of the statement above, in the literature on robot
control one finds that the control laws (6. 1) and (6. 2) are ind...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 7 pdf
... γλ
Max
{M}
˙
q
2
.
On the other hand, note that in view of (7. 7), the following inequality also
holds true since K
p
is a diagonal positive definite matrix,
178 8 PD Control with Desired Gravity ... Phenomena such as
bifurcations of equilibria and catastrophic jumps may occur. These types of
phenomena appear even in the case of one single link with a revolute joint.
We pr...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 9 ppt
... robot control system, the sampling
period, the fact of estimating (and not measuring) velocities and, most
importantly, in the case of the Pelican, friction at the joints. ♦
11.2 PD+ Control
PD+ control ... results obtained for the Pelican 2-DOF
robot under PD+ control.
Example 11.3. Consider the 2-DOF prototype robot studied in Chapter
5, and shown in Figure 11.2....
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 10 pps
... structure of the PD control law with compensation has been proposed
and studied in
ã Slotine J. J., Li W., 1987. “On the adaptive control of robot manipulators ,
The International Journal of Robotics ... Lya-
punov function approach”, International Journal of Adaptive Control and
Signal Processing, Vol. 4, pp. 487500.
ã Kelly R., Salgado R., 1994, “PD control with c...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 11 doc
... stability of
the origin of the closed-loop system, was first solved for one-degree -of- freedom
robots (including a term that is quadratic in the velocities) in
ã Lora A., 1996, Global tracking control of ... function and La Salle’s Theorem
2.7.
3
This controller was proposed and analyzed in Kelly R., Ortega R., Ailon A.,
Loria A., 1994, “Global regulation of flexible...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 12 doc
... for adaptive motion control of robot manipula-
tors, i.e. including a proof of uniform global asymptotic convergence of the
parameters, is given in
ã A. Lora, R. Kelly and A. Teel, 2003, “Uniform ... potentials for robot servo loops and its role in adaptive
learning controls”, Intelligent and Soft Computing, Vol. 1, No. 1, pp. 85–
98.
Property 14.1 on the linearity...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 13 ppt
... dynamics and control , John Wi-
ley and Sons.
ã Slotine J. J., Li W., 1991, Applied nonlinear control, Prentice-Hall.
ã Lewis F. L., Abdallah C. T., Dawson D. M., 1993, Control of robot ma-
nipulators”, ... closed-loop equation; in par-
ticular, uniform parameter convergence, for robots with revolute joints under
PD control with adaptive compensation, was rst shown in
ã A....
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 14 ppt
... Support
We see that on one hand, the term on the left-hand side of Inequality (A.1 5)
is bounded by assumption (since f ∈ L
n
2
) and on the other hand, since {t
n
}
is in nite and (A.1 4) holds for each ... presents a func-
tion that is used as part of Lyapunov functions in the study of stability of
various control schemes of robots.
C
Proofs of Some Properties of t...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 15 ppsx
... control engineering, Prentice-Hall.
ã Spong M., Vidyasagar M., 1989, Robot dynamics and control , John Wi-
ley and Sons, Inc.
Various nonlinear models of friction for DC motors are presented in
ã Canudas ... friction compen-
sation in DC-motor drives”, IEEE Journal of Robotics and Automation,
Vol. RA-3, No. 6, December.
ã Canudas C., 1988, Adaptive control for partially k...