Download Control of Robot Manipulators in Joint Space (Advanced by Rafael Kelly, Victor Santibáñez Davila, Julio Antonio Loría PDF

By Rafael Kelly, Victor Santibáñez Davila, Julio Antonio Loría Perez

Robot regulate is the spine of robotics, a vital self-discipline within the upkeep of top of the range and productiveness in sleek undefined. the most typical approach to keep an eye on for commercial robot manipulators depends on the dimension and modification of joint displacement: so-called "joint-space control".

Control of robotic Manipulators in Joint Space addresses robotic keep an eye on extensive, treating a number model-based controllers intimately: proportional by-product; proportional quintessential by-product; computed torque and a few adaptive editions. utilizing various mixtures of the text’s 4 parts:

  • robot dynamics and mathematical preliminaries;
  • set-point model-based regulate;
  • tracking model-based keep watch over; and
  • adaptive and velocity-independent keep watch over

A entire direction in robotic keep watch over in keeping with joint house should be built for senior undergraduates or masters scholars. different parts of analysis very important to robotics, comparable to kinematics, obtain recognition in the case stories that are established round a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used all through to check the tested controllers through experimentation.

In addition to the written textual content, auxiliary assets are available the shape of pdf projector shows for the teacher to take advantage of in lectures and as published type aids for college students, and a pdf ideas guide. All of this labour-saving supplementary fabric should be downloaded from the Springer website.

Show description

Read Online or Download Control of Robot Manipulators in Joint Space (Advanced Textbooks in Control and Signal Processing) PDF

Similar machinery books

Engineering Tribology, Third Edition

As with the former version, the 3rd variation of Engineering Tribology offers an intensive figuring out of friction and put on utilizing applied sciences akin to lubrication and designated fabrics. Tribology is a fancy subject with its personal terminology and really good ideas, but is extremely important all through all engineering disciplines, together with mechanical layout, aerodynamics, fluid dynamics and biomedical engineering.

Machinery component maintenance and repair, Volume 3

Contains details on pump baseplate set up and grouting, fix and upkeep of mechanical seals, steel sewing, and coping with rotor upkeep at outdoors retailers.

Roloff/Matek Maschinenelemente Formelsammlung: Interaktive Formelsammlung auf CD-ROM

Uber seven-hundred Berechnungsformeln zu Maschinenelementen sind in ubersichtlicher Anordnung zusammengestellt. Mit der beigefugten CD-ROM konnen uber four hundred Formeln elektronisch generiert werden. Die Formelsammlung kann aufgrund der ausfuhrlichen Kommentare und Hinweise weitgehend unabhangig vom Lehrbuch genutzt werden.

Gaskets: Design, Selection, and Testing

Do not Blow A Gasket. . . decide up Daniel E. Czernik's Gasket instruction manual as a substitute and arm your self with all of the information you must layout responsible, environment-friendly, long-lasting, high-performance gaskets. it is the basically consultant to hide layout, choice, functionality, potency, reliability, and checking out of each kind of ``static'' seal gasket: chemical, o-ring, metal, and non-metallic.

Additional info for Control of Robot Manipulators in Joint Space (Advanced Textbooks in Control and Signal Processing)

Sample text

2 Dynamic Model 11 • Analytical: this procedure is based on physical laws of the system’s motion. This methodology has the advantage of yielding a mathematical model as precise as is wanted. • Experimental: this procedure requires a certain amount of experimental data collected from the system itself. Typically one examines the system’s behavior under specific input signals. The model so obtained is in general more imprecise than the analytic model since it largely depends on the inputs and the operating point1 .

In accordance with the definition of matrix product, the expression xTAy where x ∈ IRn , A ∈ IRn×m and y ∈ IRm is given by ⎤T x1 ⎢ x2 ⎥ ⎥ xTAy = ⎢ ⎣ ... ⎦ ⎡ xn n ⎡ ⎤⎡ a1m a2m ⎥ ⎢ ⎥⎢ ... ⎦ ⎣ a11 ⎢ a21 ⎢ . ⎣ .. a12 a22 .. ··· ··· .. an1 an2 · · · anm ⎤ y1 y2 ⎥ .. ⎥ ⎦ . ym m = aij xi yj . e. if it has as many rows as columns. A square matrix A ∈ IRn×n is symmetric if it is equal to its transpose that is, if A = AT . A is skew-symmetric if A = −AT . By −A we obviously mean −A := {−aij } . The following property of skew-symmetric matrices is particularly useful in robot control: xTAx = 0, for all x ∈ IRn .

Download PDF sample

Rated 4.30 of 5 – based on 26 votes