Control of Robot Manipulators in Joint Space - R Kelly, V Santibanez and A Loria Part 15 ppsx

... 329 update law. . 328 adaptive control closed loop. . 330 law 328 parametric convergence . 329 adaptive law . . . . 328 Ailon A. 308 Alvarez R. xv Alvarez–Ramirez J. . . 218 An C 283 Anderson B. ... control and robotics, respectively: • Ogata K., 1970, “Modern control engineering”, Prentice-Hall. • Spong M., Vidyasagar M., 1989, Robot dynamics and control , John Wi- ley and So...

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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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... 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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... 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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... 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 involved in Equation (3.30) depend ... : 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...

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... 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 der...

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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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... 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 which moreover is slow with respect to ... studies presented here are limited to the case of robots whose joints are all revolute. 8.1 Boundedness of Position and Velocity Errors, ˜q and ˙q Assuming that the design...

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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 ... each of these controllers is treated in separate sections. 11.1 PD Control with Compensation In 1987 an adaptive controller to solve the motion control problem 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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