Control of Robot Manipulators

Book•

Control of Robot Manipulators

Frank L. Lewis, Darren M. Dawson, Chaouki T. Abdallah

01 Mar 1993-

TL;DR: Control of robot manipulators , Control of robot Manipulators , مرکز فناوری اطلاعات و Â£1,000,000; اوشاوρز رسانی, کسورزی;

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Abstract: Control of robot manipulators , Control of robot manipulators , مرکز فناوری اطلاعات و اطلاع رسانی کشاورزی

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Book•

Robot Manipulator Control: Theory and Practice

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Frank L. Lewis¹, Darren M. Dawson, Chaouki T. Abdallah²•Institutions (2)

University of New Mexico¹, University of Texas at Arlington²

12 Dec 2003

TL;DR: This thoroughly up-to-date Second Edition of Robot Manipulator Control explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers.

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Abstract: Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.

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862 citations

Proceedings Article•DOI•

Control of a nonholonomic mobile robot: backstepping kinematics into dynamics

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Rafael Fierro, Frank L. Lewis

13 Dec 1995

TL;DR: A combined kinematic/torque control law is developed using backstepping and asymptotic stability is guaranteed by Lyapunov theory and can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following and stabilization about a desired posture.

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Abstract: A dynamical extension that makes possible the integration of a kinematic controller and a torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and asymptotic stability is guaranteed by Lyapunov theory. Moreover, this control algorithm can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following and stabilization about a desired posture. A general structure for controlling a mobile robot results that can accommodate different control techniques ranging from a conventional computed-torque controller, when all dynamics are known, to adaptive controllers.

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787 citations

Journal Article•DOI•

Control of a nonholonomic mobile robot using neural networks

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Rafael Fierro¹, Frank L. Lewis²•Institutions (2)

National Technical University¹, University of Texas at Arlington²

01 Jul 1998-IEEE Transactions on Neural Networks

TL;DR: A combined kinematic/torque control law is developed using backstepping and stability is guaranteed by Lyapunov theory, which can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following, and stabilization about a desired posture.

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Abstract: A control structure that makes possible the integration of a kinematic controller and a neural network (NN) computed-torque controller for nonholonomic mobile robots is presented. A combined kinematic/torque control law is developed using backstepping and stability is guaranteed by Lyapunov theory. This control algorithm can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following, and stabilization about a desired posture. Moreover, the NN controller proposed in this work can deal with unmodeled bounded disturbances and/or unstructured unmodeled dynamics in the vehicle. Online NN weight tuning algorithms do not require off-line learning yet guarantee small tracking errors and bounded control signals are utilized.

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694 citations

Cites background from "Control of Robot Manipulators"

...Since is skew-symmetric [13], it is straightforward to show that (13) is skew-symmetric also...
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...Therefore, the properties of the original dynamics hold for the new set of coordinates [13]....
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...A mobile robot system having an-dimensional configuration space with generalized coordinates and subject to constraints can be described by [13] and [20]...
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Journal Article•DOI•

A survey of applications of second-order sliding mode control to mechanical systems

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Giorgio Bartolini¹, Alessandro Pisano¹, Elisabetta Punta, Elio Usai¹•Institutions (1)

University of Cagliari¹

01 Jan 2003-International Journal of Control

TL;DR: In this paper, a class of second-order sliding mode controllers, guaranteeing finite-time convergence for systems with relative degree two between the sliding variable and the switching control, is presented.

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Abstract: The effective application of sliding mode control to mechanical systems is not straightforward because of the sensitivity of these systems to chattering. Higher-order sliding modes can counteract this phenomenon by confining the switching control to the higher derivatives of the mechanical control variable, so that the latter results are continuous. Generally, this approach requires the availability of a number of time derivatives of the sliding variable, and, in the presence of noise, this requirement could be a practical limitation. A class of second-order sliding mode controllers, guaranteeing finite-time convergence for systems with relative degree two between the sliding variable and the switching control, could be helpful both in reducing the number of differentiator stages in the controller and in dealing with unmodelled actuator dynamics. In this paper different second-order sliding mode controllers, previously presented in the literature, are shown to belong to the above cited class, and some cha...

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648 citations

Cites background from "Control of Robot Manipulators"

...On the other side, at least in simulation, exploiting the positive definiteness of the inertia matrix (Lewis et al. 1993), the use of the sliding mode approach allows better performance to be achieved by means of a discontinuous multivariable controller whose complexity is not dependent on the…...
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Journal Article•DOI•

Generating dynamic simulations of movement using computed muscle control.

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Darryl G. Thelen¹, Frank C. Anderson², Scott L. Delp²•Institutions (2)

University of Wisconsin-Madison¹, Stanford University²

01 Mar 2003-Journal of Biomechanics

TL;DR: A new algorithm, which is called computed muscle control, that uses static optimization along with feedforward and feedback controls to drive the kinematic trajectory of a musculoskeletal model toward a set of desired kinematics is introduced.

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636 citations

Cites background or methods from "Control of Robot Manipulators"

...(4) are achieved, the velocity and position errors will be driven to zero and display behavior described by a set of decoupled second-order ordinary differential equations (Lewis et al., 1993)...
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...Thus, when tracking rapid movements in which actuator delays have larger effects, a method for incorporating actuator dynamics into the estimation of controls may need to be implemented (Lewis et al., 1993)....
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...Our approach is an extension of computed torque control (Lewis et al., 1993), in which feedforward and feedback control is used to drive the kinematic trajectory of a dynamic model toward a set of experimental kinematics....
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...(4) are achieved, the velocity and position errors will be driven to zero and display behavior described by a set of decoupled second-order ordinary differential equations (Lewis et al., 1993) . e , q þ kv ’ e , q þ kp e , q ¼ 0; ð5Þ where ....
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Control of Robot Manipulators

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Cites background from "Control of Robot Manipulators"

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