Robot Manipulator Control Theory and Practice - Frank L Lewis Part 6 doc

... 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 gravity term of the manipulator ... become larger. This will be EXAMPLE 4.4–3: Simulation of PD-Gravity Controller In Example 4.4.1 we simulated the exact computed-torque control law on a two link planar manipulat...

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... Table 7.2.2 can be used to design repetitive controllers for robot manipulators. EXAMPLE 7.2–2: RCL for the Two-Link Arm We wish to design and simulate the RCL given in Table 7.2.2 for the two-link arm ... 1990] Ghorbel, F:, and M.Spong, “Stability analysis of adaptively controlled flexible joint robots,” Proc. IEEE Conf. Decision Control, Honolulu, pp 2538–2544, 1990. [Kokotovic et al...

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... 1974] Bejczy, A.K., Robot arm dynamics and control, ” NASA-JPL Technical Memorandum 33 66 9, 1974. [Paul 1981] Paul, R.P., Robot Manipulators: Mathematics, Programming and Control. Cambridge, MA: ... by Marcel Dekker, Inc. Software for Controller Simulation5 96 digital controls purposes, subroutine DIG is called before the Runge-Kutta routine, while for digital filtering, DIG is cal...

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... Mireles, J., and F .L. Lewis, “Intelligent Mate-rial Handling: Development and implementation of a matrix-based discrete- event controller,” IEEE Trans. Industrial Electronics, vol. 48, no. 6, pp. 1087–1097, ... 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...

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... Stability: x e is globally, uniformly, asymptotically stable (GUAS) if it is US, and UC. 5. Global Exponential Stability: x e is globally exponentially stable (GES) if there exists α >0, and ... leads to the state-space representation We will not emphasize the study of discrete nonlinear systems since robots robot controllers are usually implemented using digital controllers. It w...

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... Control Design problem is solvable for a system 2.11.1, if and only if the state-space realization is both observable and controllable. ᭿ These compensators are known as the observer-controller ... real parts or that A has one eigen- value at the origin while the rest of them is in the open left-half plane (OLHP), and 2. (A, b) is controllable, and 3. (c, A) is observable, and 4....

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... Inc. REFERENCES104 [Kailath 1980] T.Kailath. “Linear Systems”. Prentice-Hall, Englewood Cliffs, NJ, 1980. [Khalil 2001]. H.Khalil. “Nonlinear Systems”. Prentice-Hall, Englewood Cliffs, NJ, 2001. [LaSale and Lefschetz ... 1 961 ] P.LaSale and S.Lefschetz. “Stability by Lyapunov’s Direct Method”. Academic Press, New York, 1 961 . [Ljung 1999] L. Ljung. “System Identification -Theory for t...

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... simulations for robotic systems. Since most robot controllers are actually implemented in a digital fashion (Section 4.5), we also show how to simulate digital robot arm controllers. Simulation ... digital implementation of robot controllers are shown. Trajectory generation is outlined. 4.1 Introduction A basic problem in controlling robots is to make the manipulator follow a preplann...

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... also imply a large k p . 5.2 Feedback-Linearization Controllers Copyright © 2004 by Marcel Dekker, Inc. Robust Control of Robotic Manipulators3 06 EXAMPLE 5.3–4: VSS Controller 2 (Hyperbolic Tangent) Contrast ... 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...

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... nonlinear control problem to a linear control problem by directly canceling the nonlinearities. There is a wealth of available knowledge for controlling linear systems; therefore, if exact knowledge ... computed-torque controller given in Table 6. 2.1 for the two-link arm given in Figure 6. 2.1. Figure 6. 2.3: Block diagram of the adaptive computed-torque controller. 6. 2 Adaptive Co...

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