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Control of Robot Manipulators in Joint Space
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...
| Clasificación: | Libro Electrónico |
|---|---|
| Autores principales: | , , |
| Autor Corporativo: | |
| Formato: | Electrónico eBook |
| Idioma: | Inglés |
| Publicado: |
London :
Springer London : Imprint: Springer,
2005.
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| Edición: | 1st ed. 2005. |
| Colección: | Advanced Textbooks in Control and Signal Processing,
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| Temas: | |
| Acceso en línea: | Texto Completo |
MARC
| LEADER | 00000nam a22000005i 4500 | ||
|---|---|---|---|
| 001 | 978-1-85233-999-9 | ||
| 003 | DE-He213 | ||
| 005 | 20220113012550.0 | ||
| 007 | cr nn 008mamaa | ||
| 008 | 100301s2005 xxk| s |||| 0|eng d | ||
| 020 | |a 9781852339999 |9 978-1-85233-999-9 | ||
| 024 | 7 | |a 10.1007/b135572 |2 doi | |
| 050 | 4 | |a TK1-9971 | |
| 072 | 7 | |a THR |2 bicssc | |
| 072 | 7 | |a TEC007000 |2 bisacsh | |
| 072 | 7 | |a THR |2 thema | |
| 082 | 0 | 4 | |a 621.3 |2 23 |
| 100 | 1 | |a Kelly, Rafael. |e author. |4 aut |4 http://id.loc.gov/vocabulary/relators/aut | |
| 245 | 1 | 0 | |a Control of Robot Manipulators in Joint Space |h [electronic resource] / |c by Rafael Kelly, Victor Santibáñez Davila, Julio Antonio Loría Perez. |
| 250 | |a 1st ed. 2005. | ||
| 264 | 1 | |a London : |b Springer London : |b Imprint: Springer, |c 2005. | |
| 300 | |a XXVI, 426 p. 110 illus. |b online resource. | ||
| 336 | |a text |b txt |2 rdacontent | ||
| 337 | |a computer |b c |2 rdamedia | ||
| 338 | |a online resource |b cr |2 rdacarrier | ||
| 347 | |a text file |b PDF |2 rda | ||
| 490 | 1 | |a Advanced Textbooks in Control and Signal Processing, |x 2510-3814 | |
| 505 | 0 | |a Preliminaries -- to Part I -- What Does "Control of Robots" Involve? -- Mathematical Preliminaries -- Robot Dynamics -- Properties of the Dynamic Model -- Case Study: The Pelican Prototype Robot -- Position Control -- to Part II -- Proportional Control plus Velocity Feedback and PD Control -- PD Control with Gravity Compensation -- PD Control with Desired Gravity Compensation -- PID Control -- Motion Control -- to Part III -- Computed-torque Control and Computed-torque+ Control -- PD+ Control and PD Control with Compensation -- Feedforward Control and PD Control plus Feedforward -- Advanced Topics -- to Part IV -- P"D" Control with Gravity Compensation and P"D" Control with Desired Gravity Compensation -- to Adaptive Robot Control -- PD Control with Adaptive Desired Gravity Compensation -- PD Control with Adaptive Compensation. | |
| 520 | |a 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 text's four parts: • robot dynamics and mathematical preliminaries; • set-point model-based control; • tracking model-based control; and • 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 springeronline.com. | ||
| 650 | 0 | |a Electrical engineering. | |
| 650 | 0 | |a Control engineering. | |
| 650 | 0 | |a Computer science. | |
| 650 | 0 | |a Robotics. | |
| 650 | 0 | |a Automation. | |
| 650 | 0 | |a Computer simulation. | |
| 650 | 0 | |a Machinery. | |
| 650 | 1 | 4 | |a Electrical and Electronic Engineering. |
| 650 | 2 | 4 | |a Control and Systems Theory. |
| 650 | 2 | 4 | |a Theory of Computation. |
| 650 | 2 | 4 | |a Control, Robotics, Automation. |
| 650 | 2 | 4 | |a Computer Modelling. |
| 650 | 2 | 4 | |a Machinery and Machine Elements. |
| 700 | 1 | |a Santibáñez Davila, Victor. |e author. |4 aut |4 http://id.loc.gov/vocabulary/relators/aut | |
| 700 | 1 | |a Loría Perez, Julio Antonio. |e author. |4 aut |4 http://id.loc.gov/vocabulary/relators/aut | |
| 710 | 2 | |a SpringerLink (Online service) | |
| 773 | 0 | |t Springer Nature eBook | |
| 776 | 0 | 8 | |i Printed edition: |z 9781848008915 |
| 776 | 0 | 8 | |i Printed edition: |z 9781852339944 |
| 830 | 0 | |a Advanced Textbooks in Control and Signal Processing, |x 2510-3814 | |
| 856 | 4 | 0 | |u https://doi.uam.elogim.com/10.1007/b135572 |z Texto Completo |
| 912 | |a ZDB-2-ENG | ||
| 912 | |a ZDB-2-SXE | ||
| 950 | |a Engineering (SpringerNature-11647) | ||
| 950 | |a Engineering (R0) (SpringerNature-43712) | ||