Containing over essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers.
It also addresses procedures and issues in computed… Expand. View via Publisher. Save to Library Save. Create Alert Alert. Share This Paper. Background Citations. Methods Citations. Figures and Tables from this paper. Citation Type. Has PDF. Publication Type. More Filters. Nonlinear Control Techniques for Robot Manipulators. This Masters Thesis describes the design and implementation of control strategies for the following topics of research: i Whole Arm Grasping Control for Redundant Robot Manipulators, ii Neural … Expand.
PID control of robot manipulators in task space. This paper addresses the position control of robot manipulators in general task space with a model-free controller. A simple proportional-integral-derivative PID control is developed. The … Expand. Highly Influenced. View 7 excerpts, cites background.
A method of adaptive control of a specialized manipulator designed to work as part of a robotic complex for servicing vertical surfaces is proposed and studied. The robotic complex consists of a … Expand. View 1 excerpt, cites methods. Modelling and control for position-controlled Modular Robot Manipulators. Engineering, Computer Science. CDC The control objective in many robot manipulator applications is to command the end-effector motion to achieve a desired response.
To achieve this objective a mapping is required to relate the … Expand. View 3 excerpts, cites methods and background. View 3 excerpts, cites background and methods. Control techniques for robot manipulator systems with modeling uncertainties. This dissertation describes the design and implementation of various nonlinear control strategies for robot manipulators whose dynamic or kinematic models are uncertain.
Chapter 2 describes the … Expand. View 4 excerpts, cites background. Nonlinear optimal position control design for 2-link RR-robot manipulator.
This appendix contains the software used in the text for robot controller simulation. There are some good software packages available for design and simulation of systems, and one should be aware of them and employ them. For the time-response simulation of continuous systems, a Runge-Kutta integrator works very well. In Figure B.
It integrates linear or nonlinear systems in the state-variable form In Section 2. A parameter array PAR in common makes it easy to perform successive runs with different parameter values e.
A time delay can be injected into the continuous dynamics if desired e. It is important to realize the following. During these four calls, the control input should be held constant at u kTR. The time TR should be selected as an integral divisor of T. Five or 10 Runge-Kutta periods within each sample period is usually sufficient.
The program also allows digital filtering e. For some systems the Runge-Kutta integrator in the figure may not work; then an adaptive step-size Runge-Kutta routine e. Note: The program given here works for all examples in the book. New York: Cambridge University Press,
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