Modelling and Control of Robot Manipulators
Citations
6,340 citations
Cites background or methods from "Modelling and Control of Robot Mani..."
...The standard approach in many robotics books [368, 858, 908, 994] is to introduce the kinematic chain formulations and DH parameters in the first couple of chapters, and then move on to topics that are crucial for controlling robot manipulators, including dynamics modeling, singularities, manipulability, and control....
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...This may seem like an inverse control problem [858] or a BVP as shown in Figure 14....
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...The fourth module is a well-studied control problem that is covered in numerous texts [526, 848, 858]....
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...An extension of this model to motors that have gear ratios and nonnegligible mass appears in [858]....
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...For further reading on robot dynamics, see [30, 206, 728, 858, 908, 994]....
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598 citations
529 citations
Cites background from "Modelling and Control of Robot Mani..."
...Since this position controller cannot account for the dynamics of the system, the dynamic coupling effects are treated as a disturbance....
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285 citations
Cites methods from "Modelling and Control of Robot Mani..."
...For the distal humerus, the SoR was defined by applying the Denavit– Hartenberg method [24] at the elbow FL-EX hinge joint (Fig....
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280 citations
Cites background or methods from "Modelling and Control of Robot Mani..."
...…by determining the configuration at a given point in the task, the apparent inertia at the end-effector is co-determined (Hogan 1985b; Khatib 1995; Sciavicco and Siciliano 2000b), and second by possibly purposefully using a reference trajectory which is far from the actually followed trajectory…...
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...The feedforward control term may come, for instance, from an inverse dynamics control component, or a computed torque control component (Sciavicco and Siciliano 2000a)....
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...…impedance is computed from the desired task space impedance KP,x, KD,x by help of the Jacobian J of the forward kinematics of the robot as follows (Sciavicco and Siciliano 2000a): KP,q = JTKP,x J and KD,q = JTKD,x J. (2) Here we assume that the geometric stiffness due to the change of the…...
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...forward control term may come, for instance, from an inverse dynamics control component, or a computed torque control component [24]....
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...Joint space impedance is computed from the desired task space impedance KP,x,KD,x by help of the Jacobian J of the forward kinematics of the robot as follows [24]:...
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References
6,340 citations
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