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
Journal ArticleDOI
Control of Spacecraft Formation with Disturbance Rejection and Exponential Gains
TL;DR: In this paper, the authors address the problem of state feedback translational motion control of a spacecraft formation through a modied sliding surface controller using variable gains and I 2 action for disturbance rejection.
Journal ArticleDOI
Flock of Robots with Self-Cooperation for Prey-Predator Task
TL;DR: In this paper, the authors presented a swarm leader based on four parameters called repulsion, attraction, orientation, and influence, which are inspired by the behavior of biological societies, and made computational simulations to test the swarm performance.
Proceedings ArticleDOI
Robust nonlinear task space position tracking control of an autonomous underwater vehicle-manipulator system
TL;DR: Simulation results confirmed that the AUVMS can successfully track the given desired spatial trajectory despite of external disturbances, system uncertainties and internal noises associated with theAUVMS system, which show the robustness of the proposed control scheme.
Proceedings ArticleDOI
Advanced Control Strategies for the Robotic Hand
TL;DR: The paper presents a state-space equation for the two-link and three-link fingers and proposed a solution of finite-time, nonlinear and closed-loop optimal control tracking problem using the state-dependent Riccati equations which can be solved in analytical form.
Proceedings ArticleDOI
Control energy comparison between 1st and 2nd order sliding mode approach with application to a SCARA robot
TL;DR: A control energy comparison between the 1st and the 2nd order sliding mode approach has been accomplished to prove the effectiveness of the higher order SMC in eliminating disturbing oscillating control signals and preserving the control energy saving.