Control of robot manipulators in joint space
Author(s)
Bibliographic Information
Control of robot manipulators in joint space
（Advanced textbooks in control and signal processing）
Springer, c2005
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Note
Includes bibliographical references and index
Description and Table of Contents
Description
Tutors can design entry-level courses in robotics with a strong orientation to the fundamental discipline of manipulator control
pdf solutions manual
Overheads will save a great deal of time with class preparation and will give students a low-effort basis for more detailed class notes
Courses for senior undergraduates can be designed around Parts I - III; these can be augmented for masters courses using Part IV
Table of Contents
Part I: Preliminaries.- Introduction to Part I.- What Does 'Control of Robots' Involve?.- Mathematical Preliminaries.- Robot Dynamics.- Properties of the Dynamic Model.- Case Study: The Pelican Prototype Robot.- Part II: Position Control.- Introduction to Part II.- Proportional Control plus Velocity Feedback and PD Control.- PD Control with Gravity Compensation.- PD Control with Desired Gravity Compensation.- PID Control.- Part III: Motion Control.- Introduction to Part III.- Computed-torque Control and Computed-torque+ Control.- PD+ Control and PD Control with Compensation.- Feedforward Control and PD Control plus Feedforward.- Part IV: Advanced Topics.- Introduction to Part IV.- P'D' Control with Gravity Compensation and P'D' Control with Desired Gravity Compensation.- Introduction to Adaptive Robot Control.- PD Control with Adaptive Desired Gravity Compensation.- PD Control with Adaptive Compensation.- Appendices.- A. Mathematical Support.- B. Support for Lyapunov Theory.- C. Proofs of some Properties of the Dynamic Model.- D. Dynamics of Direct-current Motors.
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