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Control of Robot Manipulators in Joint Space

Rafael Kelly, +2 more
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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.

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Proceedings ArticleDOI

Adaptive Fault-tolerant Control of Robotic Manipulators with Given Transient and Steady-state Performance and Dynamic Uncertainties

Weizhi Lyu, +4 more
TL;DR: In this paper, an adaptive fault-tolerant control for unknown robotic manipulators with actuator faults is studied to achieve given transient and steady-state performance, where an error transformation is constructed and embedded in the backstepping analysis through Barrier Lyapunov Function (BLF).
Book ChapterDOI

Robust State Estimation for Underactuated Systems Using Sliding Modes and Attractive Ellipsoid Method

Bonifacio Sanchez, +3 more
TL;DR: The Attractive Ellipsoid Method and Sliding Modes are used to estimate the unavailable states and give the possibility to reach a stability-zone in finite time, while uncertain and the peaking phenomenon effects are reduced.