robust nonlinear control of robot manipulators

... topic of robot control. Robot control is the spine of robotics. It consists in studying how to make a robot manipulator do what it is desired to do automatically; hence, it consists in designing robot ... case notice that for robots with n joints one has, in general, 2n outputs and n inputs  E ROBOT. .. of a 2-DOF robot of a 3-DOF Cartesian robot 4 xxiv List of Figures 3.6 Input–output ... 1 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

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 deter- mined by combining the model Equation (II.1) with the control law ... 1993, ? ?Control of robot ma- nipulators”, Macmillan Pub. Co. • Qu Z., Dawson D. M., 1996, ? ?Robust tracking control of robot manipula- tors”, IEEE Press, New York. • Arimoto S., 1996, ? ?Control ... that may be used to control robot manipulators. The conceptual ap- plication of this control strategy is common in angular position control of DC motors. In this application, the controller is also

Ngày tải lên: 09/08/2014, 07:20

... simplest control laws that may be used in the control of robot manipulators with a formal guarantee of the achievement of the motion control objective,... class of control ... 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 ... problem of motion control of robot manipu- lators see the Introduction of Part II on page 139. 10 Computed-torque Control and Computed-torque+ Control In this chapter we study the motion controllers:

Ngày tải lên: 09/08/2014, 07:20

... making the robot lighter. The design of controllers that do not require velocity measurements to control robot manipulators has been a topic of investigation since broached in the decade of the 1990s ... unacceptable degradation of the performance of the control system. The interest in using controllers for robots that do not explicitly require the measurement of velocity, is twofold. First, it is ... part of the text for a second course on robot dynamics and control or for a course on robot control at the first year of graduate level. We assume that the student is familiar with the notion of

Ngày tải lên: 09/08/2014, 07:20

... 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 ... [...]... completes the proof ♦♦♦ As an application of Lemma A .5 we present below the proof of Lemma 2.2 used extensively in Parts II and III of this text ˙ Proof of Lemma 2.2 Since V ... a limit at zero This result is very often used in the literature of motion control of robot manipulators and in general, in the adaptive control literature Lemma A .5 Consider...

Ngày tải lên: 09/08/2014, 07:20

... 248 Block-diagram:... of a 2-DOF robot of a 3-DOF Cartesian robot 4 xxiv List of Figures 3.6 Input–output representation of a robot 73 3.7 Diagram of a robot with elastic joints ... topic of robot control. Robot control is the spine of robotics. It consists in studying how to make a robot manipulator do what it is desired to do automatically; hence, it consists in designing robot ... 14 .2 The Adaptive Robot Control Problem 325 14 .3 Parameterization of the Adaptive Controller ... devoted to the study of a number of robot controllers, each of which is presented

Ngày tải lên: 10/08/2014, 01:23

... Chapter 2. 12 1 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 ... dynamic model of robot manipulators is typically derived in the an- alytic form, that is, using the laws of physics. Due to the mechanical nature of robot manipulators, the laws of physics involved ... 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.

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 ... the analysis of Example 2.15 by applying Lemma 2.2 Robot Dynamics Robot manipulators are articulated mechanical systems composed of links connected by joints The joints are mainly of two types: ... global properties of stability imply existence of a unique equilibrium, it is correct to speak of not only the properties of global stability of that equilibrium, but also of such properties

Ngày tải lên: 10/08/2014, 01:23

... 3.10 Example of a 2-DOF robot 3.5 Dynamic Model of Robots... Robot dynamics and control , Wiley, New York Yoshikawa T., 1990, “Foundations of robotics: Analysis and control , The ... 2 Figure 3.9. Example of a 2-DOF robot [...]... feedback control of industrial robots with elastic joints: a singular perturbation approach”, 1st IFAC Symp Robot Control, pp 11–16, Barcelona, ... (3.23) Note that this constitutes a set of nonlinear differential equations of the form (3.1). In view of this nonlinear nature, the concept of stability of a robot in open loop must be handled with

Ngày tải lên: 10/08/2014, 01:23

... realm of robot servo–loops”, Robotica, Vol. 13, Part 1, pp. 19–27. • Arimoto S., 1995, “Fundamental problems of robot control: Part II: A nonlinear circuit theory towards an understanding of dexterous ... of Chapter... makes sense) of a reference frame fixed to the end of the last link of the robot, referred to the base reference frame in terms of the joint coordinates of the robot ... M., 1989, ? ?Robot dynamics and control? ??, Wiley, New York. • Craig J., 1988, “Adaptive control of mechanical manipulators? ??, Addison - Wesley, Reading MA. The property of skew-symmetry of 1 2 ˙ 

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 deter- mined by combining the model Equation (II.1) with the control law ... 1993, ? ?Control of robot ma- nipulators”, Macmillan Pub. Co. • Qu Z., Dawson D. M., 1996, ? ?Robust tracking control of robot manipula- tors”, IEEE Press, New York. • Arimoto S., 1996, ? ?Control ... that may be used to control robot manipulators. The conceptual ap- plication of this control strategy is common in angular position control of DC motors. In this application, the controller is also

Ngày tải lên: 10/08/2014, 01:23

... compensation of robot manipulators • Spong M., Vidyasagar M., 1989, ? ?Robot dynamics and control? ??, John Wiley and Sons • Yoshikawa T., 1990, “Foundations of robotics: Analysis and control? ??, The ... “Globally asymptotically stable PD+ controller for robot manipulators? ??, International Journal of Control, Vol 47, No 6, pp 1697–1712 The analysis of the PD control with gravity compensation for ... using a 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

Ngày tải lên: 10/08/2014, 01:23

... case of the Pelican, friction at the joints ♦ 11.2 PD+ Control PD+ control is without doubt one of the simplest control laws that may be used in the control of robot manipulators ... objective for robot manipulators may be achieved globally by means of computed-torque control Computed-torque control belongs to the so-called class of feedback linearizing controllers ... 8, “New class of control law for robotic manipulators Part 1: Non-adaptive case”, International Journal of Control, Vol 47, No 5, pp 1361–1385 The computed-torque+ control law as

Ngày tải lên: 10/08/2014, 01:23

... structure of the PD control law with compensation has been proposed and studied in • Slotine J. J., Li W., 1987. “On the adaptive control of robot manipulators? ??, The International Journal of Robotics ... study of the feedforward control of a 3- DOF 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 ... way these control systems operate consists basically of the following stages: • sampling of the joint position q (and of the velocity ˙ q); • computation of the control action τ from the control

Ngày tải lên: 10/08/2014, 01:23

... 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 ... 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 ... (13.20) 308 P“D” Control Bibliography Studies of motion control for robot manipulators without the requirement of velocity measurements, started at the beginning of the 1990s Some of the early related

Ngày tải lên: 10/08/2014, 01:23

... 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 ... 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 manipulators? ??, ... adaptive control of robot manipulators? ??, The International Journal of Robotics Research, Vol 6, No 3, pp 49–59 • Sadegh N., Horowitz R., 1987 “Stability analysis of an adaptive controller for robotic

Ngày tải lên: 10/08/2014, 01:23

... 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 ... this control scheme has become increasingly popular in the study of robot control This is the so-called adaptive controller of Slotine and Li In Chapter 11 we present the ‘non-adaptive’ version of ... ∈ IRm of the robot ˜ model, limt→∞ q (t) = Bibliography PD control with adaptive compensation was originally proposed in • Slotine J J., Li W., 1987, “On the adaptive control of robot manipulators? ??,

Ngày tải lên: 10/08/2014, 01:23

... 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 ... f(t)=0 which completes the proof. ♦♦♦ As an application of Lemma A.5 we present below the proof of Lemma 2.2 used extensively in Parts II and III of this text. Proof of Lemma 2.2. Since V (t, x, ... to have a limit at zero. This result is very often used in the literature of motion control of robot manipulators and in general, in the adaptive control literature. Lemma A.5. Consider a once

Ngày tải lên: 10/08/2014, 01:23

... AND MOTION CONTROL OF ROBOT MANIPULATORS IN THE OPERATIONAL SPACE FORMULATION DANDY BARATA SOEWANDITO (MSME, New Jersey Inst of Technology) A THESIS SUBMITTED FOR THE DEGREE OF DOCTOR OF PHILOSOPHY ... at National University of Singapore Also to the following professors for their inspiring works: Prof Oussama Khatib of Stanford Univ USA and Prof Frank L Lewis of Univ of Texas Arlington, USA ... approach to controllerobserver design for robots,” IEEE Trans Robot Autom., vol 9, no 6, pp 740–754, Dec 1993 [110] Y H Kim and F L Lewis, “Neural network output feedback control of robot manipulators, ”

Ngày tải lên: 14/09/2015, 08:50

... Statistical physics of large nonequilibrium systems; problems of nonlinear pattern formation in chemistry; complex organization of intracellular processes and biochemical networks of a living cell; ... the crossing of a pair of simple eigenvalues of the linearization of rotating waves through the imaginary axis. Similarly, Mantel and Barkley [42] described periodic forcing of meandering ... phenomena; applications of statistical mechanics to studies of economics and financial markets; multi-agent robotics and collective intelligence; the emergence and evolution of large-scale communication...

Ngày tải lên: 28/03/2014, 22:20