remote control of robot arm with five dof

... khiển nội dung tin cho card điều khiển để bật tắt thiết bị Các tín hiệu phản hồi trạng thái on/off, nhiệt độ thiết bị liên tục cập nhập Card điều khiển, gửi tới Admin Admin yêu cầu Hình Sơ đồ ... Sơ đồ mạch nguồn cho vi điều khiển Hình 6.Sơ đồ mạch giao tiếp RS232 Để phản hồi trạng thái on/off thiết bị, nghiên cứu tác gỉa sử dụng tiếp điểm đầu Rơle để tạo tín hiệu phản hồi trang thái,...

Ngày tải lên: 29/03/2014, 15:20

... diagram of an n -DOF robot manipulator of a 4 -DOF robot of a 1 -DOF mechanism of a 2 -DOF robot of ... topic of robot control Robot control is the spine of robotics It consists in studying how to make a robot manipulator what it is desired to automatically; hence, it consists in designing robot controllers ... the number of joints of a manipulator determines also its number of degrees of freedom (DOF ) Typically, a manipulator possesses DOF, among which determine the position of the end of the last...

Ngày tải lên: 27/06/2014, 14:20

... diagram of an n -DOF robot manipulator of a 4 -DOF robot of a 1 -DOF mechanism of a 2 -DOF robot of ... topic of robot control Robot control is the spine of robotics It consists in studying how to make a robot manipulator what it is desired to automatically; hence, it consists in designing robot controllers ... the number of joints of a manipulator determines also its number of degrees of freedom (DOF ) Typically, a manipulator possesses DOF, among which determine the position of the end of the last...

Ngày tải lên: 27/06/2014, 18:20

... diagram of an n -DOF robot manipulator of a 4 -DOF robot of a 1 -DOF mechanism of a 2 -DOF robot of ... topic of robot control Robot control is the spine of robotics It consists in studying how to make a robot manipulator what it is desired to automatically; hence, it consists in designing robot controllers ... the number of joints of a manipulator determines also its number of degrees of freedom (DOF ) Typically, a manipulator possesses DOF, among which determine the position of the end of the last...

Ngày tải lên: 09/08/2014, 07:20

... an analysis of PD control for n -DOF robot manipulators The behavior of an n -DOF robot in closed-loop with PD control is determined by combining the model Equation (II.1) with the control law ... study position controllers (set-point controllers) and in Part III we study motion controllers (tracking controllers) Consider the dynamic model of a robot manipulator with n DOF, rigid links, ... the PD controller of n -DOF robots Assume that the vector of desired positions q d is constant • If the vector of gravitational torques g(q) is absent in the robot model, then the origin of the...

Ngày tải lên: 09/08/2014, 07:20

... Pelican 2 -DOF robot under PD+ control Example 11.3 Consider the 2 -DOF prototype robot studied in Chapter 5, and shown in Figure 11.2 Consider the application of PD control+ (11.7) to this robot The ... study of the feedforward control of a 3DOF Cartesian robot The dynamic model of this manipulator is an innocuous linear system 12.1 Feedforward Control 267 Example 12.2 Consider the 3 -DOF Cartesian ... The problem of motion control, tracking control, for robot manipulators may be formulated in the following terms Consider the dynamic model of an ˙ ¨ n -DOF robot (III.1) Given a set of vectorial...

Ngày tải lên: 09/08/2014, 07:20

... control with gravity compensation and P“D” control with desired gravity compensation; • Introduction to adaptive robot control; • PD control with adaptive gravity compensation; • PD control with ... tracking control of one degree of freedom Eulerıa Lagrange systems without velocity measurements”, European Journal of Control, Vol 2, No 2, June This result was extended to the case of n -DOF robots ... example of a planar 2 -DOF robot This robot is used in succeeding chapters with the aim of illustrating different adaptive controllers Example 14.6 Consider the planar manipulator having two DOF illustrated...

Ngày tải lên: 09/08/2014, 07:20

... (D.12) where • J : arm inertia (without load) • mb : arm mass (without load) • lb : distance from the axis of rotation to the center of mass of the arm (without load) D Dynamics of Direct-current ... − y z w , ♦♦♦ 410 C Proofs of Some Properties of the Dynamic Model Proof of Property 4.3.3 The proof of inequality (4.10) follows invoking Theorem A.3 Since the vector of gravitational torques ... computed-torque control 228 420 Index feedforward control 265 generic adaptive control of robots 329 P“D” control with gravity compensation 293 PD control...

Ngày tải lên: 09/08/2014, 07:20

... diagram of an n -DOF robot manipulator of a 4 -DOF robot of a 1 -DOF mechanism of a 2 -DOF robot of ... topic of robot control Robot control is the spine of robotics It consists in studying how to make a robot manipulator what it is desired to automatically; hence, it consists in designing robot controllers ... the number of joints of a manipulator determines also its number of degrees of freedom (DOF ) Typically, a manipulator possesses DOF, among which determine the position of the end of the last...

Ngày tải lên: 10/08/2014, 01:23

... Chapter 12 What Does Control of Robots” Involve? tailored for linear systems, in robot control In view of this and the present requirements of precision and rapidity of robot motion it has become ... trajectory tracking control Let us briefly recapitulate a simple formulation of robot control which, as a matter of fact, is a particular case of motion control; that is, the position control problem ... Transactions on Robotics and Automation3 , IEEE Transactions on Robotics, Journal of Intelligent and Robotic Systems, Journal of Robotic Systems, Mechatronics, The International Journal of Robotics...

Ngày tải lên: 10/08/2014, 01:23

... 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 model of a robot one typically ... latter is in accordance with the physical interpretation of the concept of equilibrium ♦ The following example illustrates the derivation of the dynamic model of the 2 -DOF robot with revolute joints ... m1 τ2 q2 lc2 δ m2 I2 Figure 3.4 Example of a 2 -DOF robot Example 3.3 Consider the robot manipulator with DOF shown in Figure 3.4 This manipulator consists of two rigid links where l1 is the length...

Ngày tải lên: 10/08/2014, 01:23

... v2 q1 v1 Figure 3.9 Example of a 2 -DOF robot 82 Robot Dynamics v2 q2 q1 v1 Figure 3.10 Example of a 2 -DOF robot 3.5 Dynamic Model of Robots with Actuators On a real robot manipulator the torques ... allows us to express the dynamic model (3.18) of any robot of n DOF in terms of the ˙ state vector [q T q T ]T that is, as 3.3 Dynamic Model of Robots with Friction ⎡ ⎤ ⎡ ⎤ ˙ q q d ⎣ ⎦ ⎣ ⎦ = dt ... design of model-based robot controllers”, International Journal of Control, Vol 47, No 5, pp 1267–1275 Yoshikawa T., 1990, “Foundations of robotics Analysis and control , The MIT Press 90 • Robot...

Ngày tải lên: 10/08/2014, 01:23

... the position of the tip of the second link with respect to the base reference frame Notice that for the present case study of a 2 -DOF system, the orientation of the end-effector of the arm makes ... l2 Figure 5.2 Diagram of the 2 -DOF Pelican prototype robot I2 denote the moments of inertia of the links with respect to the axes that pass through the respective centers of mass and are parallel ... ˙ Case Study: The Pelican Prototype Robot The purpose of this chapter is twofold: first, to present in detail the model of the experimental robot arm of the Robotics lab from the CICESE Research...

Ngày tải lên: 10/08/2014, 01:23

... an analysis of PD control for n -DOF robot manipulators The behavior of an n -DOF robot in closed-loop with PD control is determined by combining the model Equation (II.1) with the control law ... the PD controller of n -DOF robots Assume that the vector of desired positions q d is constant • If the vector of gravitational torques g(q) is absent in the robot model, then the origin of the ... 1993, Control of robot manipulators”, Macmillan Pub Co Qu Z., Dawson D M., 1996, “Robust tracking control of robot manipulators”, IEEE Press, New York Arimoto S., 1996, Control theory of non–linear...

Ngày tải lên: 10/08/2014, 01:23

... variant of this controller, the so-called PD control with desired gravity compensation The study of this controller is precisely the subject of the present chapter The PD control law with desired ... achieved under PD control with desired gravity compensation on a 2 -DOF robot Example 8.3 Consider the 2 -DOF prototype robot studied in Chapter and illustrated in Figure 5.2 The components of the gravitational ... the blockdiagram of the PD control law with desired gravity compensation for robot manipulators Notice that the only difference with respect to the PD controller 172 PD Control with Desired Gravity...

Ngày tải lên: 10/08/2014, 01:23

... Pelican 2 -DOF robot under PD+ control Example 11.3 Consider the 2 -DOF prototype robot studied in Chapter 5, and shown in Figure 11.2 Consider the application of PD control+ (11.7) to this robot The ... may be used in the control of robot manipulators with a formal guarantee of the achievement of the motion control objective, globally The PD+ control law is given by 11.2 PD+ Control 249 ˙ ˜ ˙ ... These control systems are presented in increasing order of complexity with respect to their stability analyses They are: 244 11 PD+ Control and PD Control with Compensation • PD control with compensation...

Ngày tải lên: 10/08/2014, 01:23

... study of the feedforward control of a 3DOF Cartesian robot The dynamic model of this manipulator is an innocuous linear system 12.1 Feedforward Control 267 Example 12.2 Consider the 3 -DOF Cartesian ... control with gravity compensation and P“D” control with desired gravity compensation; • Introduction to adaptive robot control; • PD control with adaptive gravity compensation; • PD control with ... with PD control with compensation were the first controls with rigorous proofs of global uniform asymptotic stability proposed for the motion control problem Problems 261 Consider the model of...

Ngày tải lên: 10/08/2014, 01:23

... tracking control of one degree of freedom Eulerıa Lagrange systems without velocity measurements”, European Journal of Control, Vol 2, No 2, June This result was extended to the case of n -DOF robots ... example of a planar 2 -DOF robot This robot is used in succeeding chapters with the aim of illustrating different adaptive controllers Example 14.6 Consider the planar manipulator having two DOF illustrated ... respectively: robust control and adaptive control Roughly, the first aims at controlling, with a small error, a class of robot manipulators with the same robust controller That is, given a robot manipulator...

Ngày tải lên: 10/08/2014, 01:23

... control system with a rigorous proof of stability for the problem of motion control of robots, as far as we know, was reported in • Craig J., Hsu P., Sastry S., 1986, “Adaptive control of mechanical ... only part of the dynamic model of the robot; e.g PD control with gravity compensation In general an adaptive controller is formed of two main parts: • • control law or controller; adaptive (update) ... yields a nonadaptive controller), the resulting closed-loop system meets the control objective As a matter of fact, in the case of control of robot manipulators nonadaptive control strategies that...

Ngày tải lên: 10/08/2014, 01:23

... “Comparative experiments with a new adaptive controller for robot arms”, IEEE Transactions on Robotics and Automation, Vol 9, No 1, p 59–70 An adaptive version of PD control with gravity compensation ... formulated control problem consists in applying PD control with adaptive compensation As is explained in Chapter 14, the structure of the adaptive controllers for motion control of robot manipulators ... corresponding to this adaptive controller ♦ We present next, the design of the PD control law with adaptive compensation, the Slotine and Li controller, for a planar 2 -DOF robot As the reader should...

Ngày tải lên: 10/08/2014, 01:23