Control of Robot Manipulators in Joint Space - R Kelly, V Santibanez and A Loria Part 7 pdf
Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 7 pdf
... situation may show up whenthe parameter kpvaries “slowly” passing through values that corre-spond to saddle-node bifurcations. Briefly, a catastrophic jump occurswhen for a small variation (and ... studies presented here are limited to the case of robots whose jointsare all revolute.8.1 Boundedness of Position and Velocity Errors, ˜q and ˙qAssuming that the design matrices Kp and K v are ... other hand, this controlleruses explicitly in its control law the gravitational torques vector g(q) of thedynamic robot model to be controlled.Nevertheless, it is worth remarking that even in...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 1 ppt
... clearly identify thosevariables that are available and that have an in uence on the behavior of thesystem and more particularly, on its outputs. These variables are referred toas inputs and ... for industrial robot manipulators is the Propor-tional Integral Derivative (PID) controller. In general, this type of controllerx Series Editors’ Forewordthe narrative as and when they are ... applications and research prototypes include the so-called variable-structure controllers, fuzzy controllers, learning controllers, neural-net-basedcontrollers, to mention a few.The majority of available...
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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 secondcourse ... Nicklasson P. J. and Sira-Ram´ırez H., 1998, “Passivity-based control of Euler-Lagrange Systems Mechanical, Electrical and Elec-tromechanical Applications”, Springer-Verlag: London, Communications and ... equilibria are not restricted to mathematical ex-amples but are fairly common in control practice and as a matter of fact,mechanisms are a good example of these since in general, dynamic modelsof...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 3 doc
... 2 joint nlink nFigure 3.1. Abstract diagram of an n-DOF robot manipulatorConsider 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 definitederivative is in general very hard. Nevertheless, if in spite of painstaking effortswe are unable to find a Lyapunov ... Springer-Verlag, New York.Other references on differential equations and stability in the sense of Lyapunov are:• Arnold V. , 1 973 , “Ordinary differential equations”, MIT Press.• Borrelli R. ,...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 4 docx
... actuators is also appropriate to control robots having such actuators and geared transmissions with a high reductionratio.It is important to remark that the parameters involved in Equation (3.30)depend ... mechanics”, Addison-Wesley, Reading MA. A particularly simple derivation of the dynamic equations for n-DOFrobots via Lagrange’s equations is presented in the text by Spong and Vidyasagar (1989) previously ... : angular position of the load axis [rad],• r : gear reduction ratio (in general r 1),• v : armature voltage [V] .Equation (3.29) relates the voltage v applied to the armature of the motorto...
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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 theirnumerical values are summarized in Table 5.1.Table 5.1. Physical parameters of Pelican robot armDescription 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 derive are fundamental ... problem of direct kinematics for robot manipulators is formulated asfollows. Consider a robot manipulator of n degrees -of- freedom placed on a fixed surface. Define a reference frame also fixed at...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 6 potx
... the inertia matrix, C(q,˙q)˙q ∈ IRnis the vector of centrifugal and Coriolis forces, g(q) ∈ IRnis the vector of gravitational forces and torques and τ ∈ IRnis 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 which covers in a unified manner ... they arecommonly used in industrial robots. These controllers are:• Proportional control plus velocity feedback and Proportional Derivative(PD) control; • PD control with gravity compensation;Introduction...
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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 reservedfor the advanced ... each of these controllers is treated in separate sections.11.1 PD Control with Compensation In 19 87 an adaptive controller to solve the motion control problem of robot manipulators was reported ... reported in the literature. This controller, which over theyears has become increasingly popular within the academic environment, isoften referred to by the names of its creators: ‘Slotine and Li controller’....
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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 ... robustnesswith respect to parametric and structural uncertainties, performance degra-dation in the presence of external perturbations, etc. In Figure 12.1 we presentthe block-diagram corresponding to a robot ... feedforward has beenanalyzed in • Paden B., Riedle B. D., 1988, A positive–real modification of a class of nonlinear controllers for robot manipulators , Proceedings of the American Control Conference,...
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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 forsystems with time-varying parameters, or robust adaptive control for systemswith ... generalized coordinates and its derivatives) and the vector of dynamicparameters, θ.This property is commonly known as “linearity in the parameters” or “lin-ear parameterization”. It is a property ... systemswith structural and parameter uncertainty. In this and the following chapters we concentrate specifically on adaptive control of robot manipulators with constant parameters and for which weassume...
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