19 de mayo de 2013

Control of Robot Manipulators in Joint Space


Rafael Kelly, Victor Santibáñez Davila, Julio Antonio Loría Perez

2005, 426p. 110 illus.

Book Description

Robot control is the backbone of robotics, an essential discipline in the maintenance of high quality and productivity in modern industry. The most common method of control for industrial robotic manipulators relies on the measurement and amendment of joint displacement: so-called "joint-space control." Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the textbs four parts: b" robot dynamics and mathematical preliminaries; b" set-point model-based control; b" tracking model-based control; and b" adaptive and velocity-independent control a complete course in robot control based on joint space can be constructed for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used throughout to test the examined controllers by experimentation. In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual. All of this labour-saving supplementary material can be downloaded from the Springer website.


1 Introduction to Part I 3
2 What Does Control of Robots Involve? 7
3 Mathematical Preliminaries 19
4 Robot Dynamics 59
5 Properties of the Dynamic Model 95
6 The Pelican Prototype Robot 113
Introduction to Part II 135
7 Proportional Control plus Velocity Feedback and PD Control 141
8 PD Control with Gravity Compensation 157
9 Introduction to Part III 223
10 Computed-torque Control and Computed-torque+ Control 227
11 PD+ Control and PD Control with Compensation 243
12 Feedforward Control and PD Control plus Feedforward 263
Introduction to Part IV 289
13 P“D” Control with Gravity Compensation and P“D” Control with Desired Gravity Compensation 291
14 Introduction to Adaptive Robot Control 313
15 PD Control with Adaptive Desired Gravity Compensation 337
16 PD Control with Adaptive Compensation 361
A Mathematical Support 383
B Support to Lyapunov Theory 401
C Proofs of Some Properties of the Dynamic Model 407
D Dynamics of Directcurrent Motors 411
Index 419

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