Control of robot manipulators in joint space

著者

• Kelly, R.
• Santibáñez, V.
• Loría, A.

書誌事項

Control of robot manipulators in joint space

R. Kelly, V. Santibáñez and A. Loría

（Advanced textbooks in control and signal processing）

Springer, c2005

注記

Includes bibliographical references and index

内容説明・目次

内容説明

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

目次

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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詳細情報

• NII書誌ID(NCID): BA73454465
• ISBN:
  • 9781852339944
• 出版国コード: uk
• タイトル言語コード: eng
• 本文言語コード: eng
• 出版地: London
• ページ数/冊数: xxvi, 426 p.
• 大きさ: 24 cm
• 親書誌ID:
  • BA41011045