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...

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Bibliographic Details
Call Number:Libro Electrónico
Main Authors: Kelly, Rafael (Author), Santibáñez Davila, Victor (Author), Loría Perez, Julio Antonio (Author)
Corporate Author: SpringerLink (Online service)
Format: Electronic eBook
Language:Inglés
Published: London : Springer London : Imprint: Springer, 2005.
Edition:1st ed. 2005.
Series:Advanced Textbooks in Control and Signal Processing,
Subjects:
Electrical engineering.
Control engineering.
Computer science.
Robotics.
Automation.
Computer simulation.
Machinery.
Electrical and Electronic Engineering.
Control and Systems Theory.
Theory of Computation.
Control, Robotics, Automation.
Computer Modelling.
Machinery and Machine Elements.
Online Access:Texto Completo
Table of Contents:
  • 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.

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