Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 9 ppt
control of robot manipulators in joint space r kelly v santibanez and a loria 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 ... address in great detail a range of model-based controllers such as: Pro-portional Derivative (PD), Proportional Integral Derivative (PID), Computedtorque and some variants including adaptive ... typically broach the mentioned topics in a survey rather than a detailed manner. Control of robot manipulators in joint space is a counter-fact to most avail-able literature on robotics since...
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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 232ISBN -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 ediaspringeronline.comâ Springer-Verlag London ... representation of a robot . . 733.7 Diagram of a robot with elastic joints 783.8 Link with an elastic joint 81 3.9 Example of a 2-DOF robot . 81 3 .10 Example of a 2-DOF robot . 823 .11 Diagram of a DC ... Library Cataloguing in Publication Data Kelly, R. Control of robot manipulators in joint space. - (Advancedtextbooks in control and signal processing) 1. Robots - Control systems 2. Manipulators...
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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 demanda deeper knowledge of control and stability theory, may make part of a secondcourse ... Siciliano B., 20 00, Modeling and control of robot manipula-tors”, Second Edition, Springer-Verlag, London. 2. 1 Linear Algebra 23 Obviously, any diagonal matrix is symmetric. In the particular ... Commission for Europe and International Fed-eration of Robotics, 20 01, “World robotics 20 01”, United Nation Pub-lication sales No. GV.E.01.0.16, ISBN 92 1–101043–8, ISSN 1 020 –1076,Printed at United...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 3 doc
... case.x0z0z1q1q2z2z 3 q 3 z4q4y0x =⎡⎣x1x2x 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 zias well as the joint coordinates, ... purposes, in thevector of joint positions q. Consequently, for a robot with n joints, that is,with n DOF (except for special cases, such as elastic-joints or flexible-linkrobots), the vector of joint ... m2l1lc2sin()C21]q21 (3. 9)which are of the form (3. 1) withfEL(q,q,ăq, )=1 RHS (3. 8)2 RHS (3. 9)where RHS (3. 8) and RHS (3. 9) denote the terms on the right-handside of (3. 8) and (3. 9)...
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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”, ASMEJournal of Dynamic Systems, Measurement and Control, Vol. 109, De-cember.The topic of electromechanical actuator modeling and its consideration ... the first kindcjik(q) and which is defined in (3.21). 3 .4 Dynamic Model of Elastic -joint Robots 77sign(0) is crucial both from theoretical and practical viewpoints, in position control (i.e. ... =0maxq|C222(q)| =0.Hence, considering (4. 8) we obtainkC1=4m2l1lc2.♦The reader interested in the proof of Inequality (4. 5) is invited to seeAppendix C. 96 4 Properties of the Dynamic Modelclosely...
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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 modelingthat ... for control. 5. 2 Inverse KinematicsThe inverse kinematic model of robot manipulators is of great importancefrom a practical viewpoint. This model allows us to obtain the joint positionsq in ... posi-tions xd and ydfor the robot s end-effector. Indeed, note that physically, itis more intuitive to specify a task for a robot in end-effector coordinates sothat interest in the inverse kinematics...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 6 potx
... control 6. 1 Robots without Gravity Term 143We 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 indistinctly called“PD control . The common argument in ... c1=1.Hint: Use (6. 15).3. Consider the PD control of the 2-DOF robot studied in Example 6. 3. Theexperimental results in this example were obtained with Kp= diag {30} and the following numerical...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 7 pdf
... γλMax{M}˙q2.On the other hand, note that in view of (7. 7), the following inequality alsoholds true since Kpis a diagonal positive definite matrix, 178 8 PD Control with Desired Gravity ... Phenomena such asbifurcations 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 present next an example ... for the origin˜qT˙˜qTT= 0 ∈ IR2nto be an equi-librium point of the closed-loop equation is that the desired joint position qdbe a constant vector. In what is left of this chapter...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 9 ppt
... robot control system, the samplingperiod, the fact of estimating (and not measuring) velocities and, mostimportantly, 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 Chapter5, and shown in Figure 11.2.Consider the application of PD control+ ... continuity of the exposition of motion controllers. The ma-terial is adapted from the corresponding references cited as usual, at the end of the chapter. 234 10 Computed-torque Control and...
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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 computed feedforward of robot manipulators: ... nonlinearfeedback and feedforward control schemes for manipulators , The Interna-tional Journal of Robotics Research, Vol. 7, No. 1, pp. 1828.ã Kokkinis T., Stoughton R., 1991, “Dynamics and control of a...
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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- freedomrobots (including a term that is quadratic in the velocities) in ã Lora A., 1996, Global tracking control of ... function and La Salle’s Theorem2.7.3This controller was proposed and analyzed in Kelly R., Ortega R., Ailon A., Loria A., 1994, “Global regulation of flexible joint robots using approximate dif-ferentiation”, ... consideredas part of the last link) is of uncertain mass and/ or inertia. The consequence in this situation cannot be overestimated; due to the uncertainty in some of the parameters of the robot model...
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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 theparameters, is given in ã A. Lora, R. Kelly and A. Teel, 2003, “Uniform ... potentials for robot servo loops and its role in adaptivelearning controls”, Intelligent and Soft Computing, Vol. 1, No. 1, pp. 85–98.Property 14.1 on the linearity of the robots dynamic model in the ... Kokotovi´c P., 1995, “Nonlinear and adap-tive control design”, John Wiley and Sons, Inc.ã Marino R., Tomei P., 1995, Nonlinear control design, Prentice-Hall.ã Khalil H., 1996, Nonlinear systems, Second...
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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 underPD control with adaptive compensation, was rst shown in ã A. Lora, R. Kelly and A. Teel, ... formulated control problem consists in applying PD control with adaptivecompensation.As is explained in Chapter 14, the structure of the adaptive controllers formotion control of robot manipulators...
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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 14 ppt
... SupportWe see that on one hand, the term on the left-hand side of Inequality (A.1 5)is bounded by assumption (since f ∈ Ln2) and on the other hand, since {tn}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. CProofs of Some Properties of the DynamicModelProof of Property ... below the proof of Lemma 2.2used extensively in Parts II and III of this text.Proof of Lemma 2.2. Since V (t, x, z,h) ≥ 0 and ˙V (t, x, z,h) ≤ 0 for allx, z and h then these inequalities...
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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 known systemsTheory and applications, ... 223velocity 224 420 Indexfeedforward control 265generic adaptive control of robots 329P“D” control with gravity compensa-tion . . . 293PD control. 142PD control plus feedforward 270PD control with...
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