Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 9 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...

Ngày tải lên: 27/06/2014, 18:20

... 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...

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 ... Siciliano B., 20 00, Modeling and control of robot manipula- tors”, Second Edition, Springer-Verlag, London. 2. 1 Linear Algebra 23 Obviously, any diagon...

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... 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....

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... 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....

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23