Control of Robot Manipulators in Joint Space - R Kelly, V Santibanez and A Loria Part 5 pot

... meaning of the diverse constant parameters involved as well as their numerical values are summarized in Table 5. 1. Table 5. 1. Physical parameters of Pelican robot arm Description Notation Value ... 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. The bounds that we...

Ngày tải lên: 10/08/2014, 01:23

... 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 ... Nicklasson P. J. and Sira-Ram´ırez H., 1998, “Passivity- based control of Euler-Lagrange Systems Mechanical, Electrical and Elec- tromechanical Applicatio...

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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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... 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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... 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 ... stability of a particular system, finding a Lyapunov function with a negative definite derivative is in general very hard. Nevertheless, if in spite of painstaking e...

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... moment of inertia of the rotors about their respective rotating axes. Let r i be the gear reduction ratio of each rotor; e.g. if r = 50 we say that for every 50 rotor revolutions, the axis after 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 invo...

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... situation may show up when the parameter k p varies “slowly” passing through values that corre- spond to saddle-node bifurcations. Briefly, a catastrophic jump occurs when for a small variation (and ... compensation for robot manipulators , in F. Paul and D. Youcef–Toumi (ed.), Robotics: Theory and Applications, DSC Vol. 3. • Tomei P., 1991, “Adaptive PD controller for robot m...

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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 ... 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...

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... 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 G. T., Ramadarai A. K., 1993, “Per- formance ... robustness with respect to parametric and structural uncertainties, performance degra- dation in the presence of external perturbations, etc. In Figure 12.1 we present the bloc...

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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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