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Model-Based Control of a Robot Manipulator

1988-03-01 Computers
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Release : 1988-03-01
Genre : Computers
Kind : eBook
Book Rating : 575/5 ( reviews)

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Book Synopsis Model-Based Control of a Robot Manipulator by : Chae H. An

Download or read book Model-Based Control of a Robot Manipulator written by Chae H. An. This book was released on 1988-03-01. Available in PDF, EPUB and Kindle. Book excerpt: The first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control.

Model-based Control of a Robot Manipulator

1988-01 Computers
Download Model-based Control of a Robot Manipulator PDF Online Free

Author :
Release : 1988-01
Genre : Computers
Kind : eBook
Book Rating : 020/5 ( reviews)

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Book Synopsis Model-based Control of a Robot Manipulator by : Chae H. An

Download or read book Model-based Control of a Robot Manipulator written by Chae H. An. This book was released on 1988-01. Available in PDF, EPUB and Kindle. Book excerpt: Model-Based Control of a Robot Manipulator presents the first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control. The authors' work on automatic identification of kinematic and dynamic parameters, feedforward position control, stability in force control, and trajectory learning has significant implications for improving performance in future robot systems. All of the main ideas discussed in this book have been validated by experiments on a direct-drive robot arm. The book addresses the issues of building accurate robot models and of applying them for high performance control. It first describes how three sets of models - the kinematic model of the links and the inertial models of the links and of rigid-body loads - can be obtained automatically using experimental data. These models are then incorporated into position control, single trajectory learning, and force control. The MIT Serial Link Direct Drive Arm, on which these models were developed and applied to control, is one of the few manipulators currently suitable for testing such concepts. Contents: Introduction. Direct Drive Arms. Kinematic Calibration. Estimation of Load Inertial Parameters. Estimation of Link Inertial Parameters. Feedforward and Computed Torque Control. Model-Based Robot Learning. Dynamic Stability Issues in Force Control. Kinematic Stability Issues in Force Control. Conclusion. Chae An is Research Staff Member, IBM T.J. Watson Research Center, Christopher Atkeson is an Assistant Professor and John Hollerbach is an Associate Professor in the MIT Department of Brain and Cognitive Sciences and the MIT Artificial Intelligence Laboratory. Model-Based Control of a Robot Manipulator is included in the Artificial Intelligence Series edited by Patrick Winston and Michael Brady.

Control of Robot Manipulators in Joint Space

2007-12-14 Technology & Engineering
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Release : 2007-12-14
Genre : Technology & Engineering
Kind : eBook
Book Rating : 993/5 ( reviews)

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Book Synopsis Control of Robot Manipulators in Joint Space by : Rafael Kelly

Download or read book Control of Robot Manipulators in Joint Space written by Rafael Kelly. This book was released on 2007-12-14. Available in PDF, EPUB and Kindle. Book excerpt: 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

Modelling and Control of Robot Manipulators

2012-12-06 Technology & Engineering
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Release : 2012-12-06
Genre : Technology & Engineering
Kind : eBook
Book Rating : 498/5 ( reviews)

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Book Synopsis Modelling and Control of Robot Manipulators by : Lorenzo Sciavicco

Download or read book Modelling and Control of Robot Manipulators written by Lorenzo Sciavicco. This book was released on 2012-12-06. Available in PDF, EPUB and Kindle. Book excerpt: Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.

Robot Force Control

2012-12-06 Technology & Engineering
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Release : 2012-12-06
Genre : Technology & Engineering
Kind : eBook
Book Rating : 319/5 ( reviews)

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Book Synopsis Robot Force Control by : Bruno Siciliano

Download or read book Robot Force Control written by Bruno Siciliano. This book was released on 2012-12-06. Available in PDF, EPUB and Kindle. Book excerpt: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.

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