Open AccessBook
Control of Robot Manipulators in Joint Space
Reads0
Chats0
TLDR
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.read more
Citations
More filters
Proceedings ArticleDOI
Output Feedback Control Structure of a Robot Manipulator in a Hot Cell
TL;DR: In this article, a new class of output feedback controllers has been proposed for a semi-global trajectory tracking control of robotic manipulators equipped with revolute and prismatic joints without velocity measurements.
Book ChapterDOI
Homogeneous Approach for Output Feedback Tracking Control of Robot Manipulators
TL;DR: Control laws based on the homogeneity approach are attractive in robotic applications because they can cope with many mechanical perturbations, including external vibrations, contact forces, and nonlinear internal phenomena such us Coulomb and viscous friction, dead zone and backlash.
Proceedings Article
Dynamic compensation of nonlinear dynamics research of mechanic anthropomorphic robotic hand
TL;DR: In this article, two methods for control of scheme with compensation of nonlinear dynamics for manipulator with seven degrees of freedom are compared: PID control and adaptive fuzzy sliding mode control for variable value of gear ratio.
Journal ArticleDOI
Performance of 2- Link Robot by utilizing Adaptive Sliding Mode Controller
TL;DR: In the current study, two-link robot performance in the Classical SMC is enhanced via Adaptive Sliding Mode Controller (ASMC) despite uncertainty, external disturbance, and coulomb friction.
Book ChapterDOI
Multi-objective Optimization for Complex Trajectory Tracking of 6-DOF Robotic Arm Manipulators
TL;DR: In this paper , the impact of different single and multi-objective optimization strategies for complex trajectory tracking control of a 6DOF robotic manipulators in simulation is investigated, by an attempt of optimizing the PID-CTC for two different complex trajectories.