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