Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 2 pdf
robot manipulator control theory and practice - frank l.lewis
... System Analysis and Design with MATLAB: Fifth Edition,
Revised and Expanded, John J.D’Azzo, Constantine H.Houpis, and
Stuart N.Sheldon
15. Robot Manipulator Control: Theory and Practice, Second ... Properties of 1-Layer NN Controllers 458
8.6 Summary 458
References 459
9 Force Control 463
9.1 Introduction 463
9.2 Stiffness Control 464
Stiffness Control of a Single-Degree...
Robot Manipulator Control Theory and Practice Second Edition, Revised and Expanded doc
... H.Houpis, and
Stuart N.Sheldon
15. Robot Manipulator Control: Theory and Practice, Second Edition,
Revised and Expanded, Frank L.Lewis, Darren M.Dawson, and Chaouki
T.Abdallah
16. Robust Control ... Robot
Manipulator
Control
Theory and Practice
Second Edition, Revised and Expanded
Copyright â 2004 by Marcel Dekker, Inc.
1
Chapter 1
Commercial R...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 1 pot
... H.Houpis, and
Stuart N.Sheldon
15 . Robot Manipulator Control: Theory and Practice, Second Edition,
Revised and Expanded, Frank L.Lewis, Darren M.Dawson, and Chaouki
T.Abdallah
16 . Robust Control ... and Notes 10 1
References 10 3
3 Robot Dynamics 10 7
3 .1 Introduction 10 7
3.2 Lagrange-Euler Dynamics 10 8
Force, Inertia, and Energy 10 8
Lagrange’s Equati...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 2 pdf
... formulation of 2. 2 .2 and 2. 2.3 is given by
(2. 2.4)
where
(2. 2.5)
Copyright â 20 04 by Marcel Dekker, Inc.
Introduction to Control Theory3 0
The MIMO case is similar to the continuous-time case and is ... 29
The input-output equation then reduces to
y(k)=b
0
x
1
(k)+b
1
x
2
(k)+…+ b
n-1
x
n
(k)+u(k) (2. 2.14)
A more compact formulation of (2. 2.7) and (2. 2.8) is given...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 3 pptx
... bounded and let us find the output y
i
(t).
y
i
(t) =-0 .2e
-2 t
+0.5e
-t
-0 .32 cos(t+0 .32 )
which is bounded above by 0.62 and below by -0 .02. The derivative of y(t)
is also bounded. On the other hand, ... designing adaptive controllers
for robots.
LEMMA 2.9–1: Meyer-Kalman-Yakubovitch Let the system (2.9 .3) with
D=0 be controllable. Then the transfer function c(sI-A)
-...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 4 pptx
... R.Ortega and M.Spong. “Adaptive Motion Control
of Rigid Robots: A Tutorial”. Proc. IEEE Conf. Dec. and Cont., pp.
1575–15 84, 1988.
[Ortega et al. 1998] R.Ortega and A.Loria and P.J.Nicklasson and ... Working Group AF-TM-0056.000, version 4. 0,
April 1996.
[Niculescu et al. 1997] S I.Niculescu and E.Verriest and L.Dugard and J
M.Dion. “Stability and robust stability of t...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 5 potx
... we have
(3 .5. 9)
This may be written as
(3 .5. 10)
where we have defined the Cartesian inertia matrix, nonlinear terms, and
disturbance by
(3 .5. 11)
(3 .5. 12)
(3 .5. 13)
Equation (3 .5. 9)–(3 .5. 10) gives ... the robot can do any useful work, we
must position it in the right place at the right instances. In this chapter we
discuss computed-torque control, which yields a family of eas...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 6 doc
... Mq
d
-Mq
d
to the left-hand side and Mu-Mu to the right gives
or
ë=u-∆u+d, (4.4.44)
where the inertia and nonlinear-term model mismatch terms are
(4.4.45)
(4.4. 46)
4.4 Computed-Torque Control
Copyright ... its
derivative.
PD-Plus-Gravity Controller
A useful controller in the computed-torque family is the PD-plus-gravity
controller that results when M=I, N=G(q)-q
d
, with G(q) the g...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 8 pptx
... Nonlinear Controllers
There is a class of robot controllers that are not computed-torque-like
controllers. These controllers are obtained directly from the robot equations
without using the feedback-linearization ... Inc.
Robust Control of Robotic Manipulators2 68
of q for robots with prismatic joints, and that (5.2.10) is satisfied by
so that a=(à
2
-
à
1
)/(à
2
+à
1
)) [Spo...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 9 ppt
... al. 199 1] C.T.Abdallah and D.Dawson and P.Dorato and M. Jamshidi.
“Survey of Robust Control for Rigid Robots”. IEEE Control Syst. Mag., vol.
11, number 2, pp. 24–30, 199 1.
[Anderson 198 9] R.J.Anderson. ... and Youcef-Toumi 198 7] H.Asada and K.Youcef-Toumi. “Direct-Drive Robots:
Theory and Practice . MIT Press, Cambridge, MA, 198 7.
[Becker and Grimm 198 8] N.Becker a...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 10 pdf
... Inc.
Advanced Control Techniques384
7.2 Robot Controllers with Reduced On-Line
Computation
In this section we examine the robot controllers designed by Sadegh and
coworkers [Sadegh and Horowitz ... Design and simulate the adaptive computed-torque controller given
in Table 6.2.1 for the two-link polar robot arm given in Chapter 2.
6.2–2 Find different positive-definite, symmetri...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 11 doc
... more advanced control techniques
for the control of robot manipulators has been given. The intent of this chapter
has been to study controllers that reduce online computation and controllers
that ... corrective controllers for RLFJ robots.
EXAMPLE 7.4–2: Corrective Controller for the One-Link RLFJ Arm
We wish to design and simulate a corrective controller using Table 7.4.2 for
the o...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 13 pdf
... Control of an N-Link Manipulator
Now that we have the robot manipulator dynamics in a form which includes
the environmental interaction forces, the stiffness controller for the n-link
robot manipulator ... feedback-linearizing control that
will globally linearize the robot manipulator equation and then develop linear
controllers to track the desired force and position tr...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 15 pptx
...
1
and
(2)
The arm T matrix is given by
(3)
A.2 Robot Kinematics
Copyright â 2004 by Marcel Dekker, Inc.
Review of Robot Kinematics and Jacobians558
Many industrial robots are serial link manipulators ... review the kinematics of robot manipulators, including the arm A
matrices, homogeneous transformations, the T matrix, forward and inverse
kinematics, and joint-space and...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 16 doc
... 1974] Bejczy, A.K., Robot arm dynamics and control, ” NASA-JPL
Technical Memorandum 33–669, 1974.
[Paul 1981] Paul, R.P., Robot Manipulators: Mathematics, Programming and
Control. Cambridge, MA: ... I
uui
in kg-m-m
S
i
=sin q
i
and C
i
=cos q
i
S
ij
=sin(q
i
+q
j
) and C
ij
=cos(q
i
+q
j
)
S
ijk
=sin(q
i
+q
j
+q
k
) and C
ijk
=cos(q
i
+q
j
+q
k
)
SS
i
=sin
2
q
i
, CC
i
=cos...
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