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Control of Robot Manipulators in Joint Space
27 Jun 2005-
TL;DR: In this paper, a case study of the Pelican prototype robot is presented, where the authors present a Lyapunov theory for the dynamics of direct-current motors and demonstrate the properties of the dynamic model.
Abstract: Part I: Preliminaries.- Introduction to Part I.- What Does 'Control of Robots' Involve?.- Mathematical Preliminaries.- Robot Dynamics.- Properties of the Dynamic Model.- Case Study: The Pelican Prototype Robot.- Part II: Position Control.- Introduction to Part II.- Proportional Control plus Velocity Feedback and PD Control.- PD Control with Gravity Compensation.- PD Control with Desired Gravity Compensation.- PID Control.- Part III: Motion Control.- Introduction to Part III.- Computed-torque Control and Computed-torque+ Control.- PD+ Control and PD Control with Compensation.- Feedforward Control and PD Control plus Feedforward.- Part IV: Advanced Topics.- Introduction to Part IV.- P'D' Control with Gravity Compensation and P'D' Control with Desired Gravity Compensation.- Introduction to Adaptive Robot Control.- PD Control with Adaptive Desired Gravity Compensation.- PD Control with Adaptive Compensation.- Appendices.- A. Mathematical Support.- B. Support for Lyapunov Theory.- C. Proofs of some Properties of the Dynamic Model.- D. Dynamics of Direct-current Motors.
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Cites background from "Control of Robot Manipulators in Jo..."
...where aj are real numbers and bj, cj, dj are nonnegative integers (Kelly et al., 2005; Spong et al., 2005)....
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...…revolute joints, U(q) is a polynomial function in the arguments qi, sin(qi) and cos(qi), that is, a function of the form P(q) = n∑ j=1 aj n∏ i=1 qbii n∏ i=1 sinci(qi) n∏ i=1 cosdi(qi), (13) where aj are real numbers and bj, cj, dj are nonnegative integers (Kelly et al., 2005; Spong et al., 2005)....
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