Robot Manipulator Control Theory and Practice - Frank L.Lewis Part 9 ppt

... 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...

Ngày tải lên: 12/06/2014, 11:58

... 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...

Ngày tải lên: 27/06/2014, 18:20

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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) -...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21

... ␪ 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...

Ngày tải lên: 10/08/2014, 02:21

... 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...

Ngày tải lên: 10/08/2014, 02:21