Control of Robot Manipulators in Joint Space - R Kelly, V Santibanez and A Loria Part 5 pot
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...
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 ... Nicklasson P. J. and Sira-Ram´ırez H., 1998, “Passivity-
based control of Euler-Lagrange Systems Mechanical, Electrical and Elec-
tromechanical Applicatio...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 6 potx
... 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...
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...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 3 doc
... 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...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 4 docx
... 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...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 7 pdf
... 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...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 9 ppt
... 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...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 10 pps
... 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...
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 11 doc
... 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...