Robot Manipulator Control Theory and Practice - Frank L Lewis Part 6 doc
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...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 11 doc
... 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...
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 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...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 1 pot
... 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...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 2 pdf
... 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...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 3 pptx
... 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....
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 4 pptx
... 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...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 5 potx
... 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...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 8 pptx
... 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...
Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 9 ppt
... 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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