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Control of Robot Manipulators in Joint Space
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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
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Novel Tuning Rules of PD Controller for Industrial Processes
Marko C. Boskovic,Milan R. Rapaić,Tomislav B. Šekara,Milan Ponjavic,Marko Barjaktarovic,Budimir Lutovac +5 more
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The Design and Development of an Interactive Teaching Tool for Robotics and Control System Course Using Rapid Control Prototyping Solution
TL;DR: An application of interactive simulation designed by using the National Instrument’s (NI) LabVIEW to teach control systems of robots by Using the Rapid Control Prototyping method, which considers a nonlinear robot arm and two control modules: computed torque control and PID control.
Proceedings Article
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