Applied control of manipulation robots: analysis, synthesis and exercises
The main purpose of this book is to serve as a textbook for courses on robot control at junior/senior undergraduate or postgraduate level. It presents in a simple and systematic fashion relevant problems of robot control as well as approaches and methods for their solution which have been verified in practice. The reader will gain a complete insight into the field of robot control whereby practical aspects are particularly emphasized. The presentation is complemented by a number of numerical examples illustrating all methods and control approaches presented and a large number of exercises and software for control synthesis and analysis for the computer aided synthesis of robot control.
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A/D converter accelerations applied assume asymptotic stability calculated Cartesian closed-loop compensate complex computation consider constraints control law control level control signals control synthesis control system coordinate frame desired position determine dynamic model eigen-values ensure exponential stability external coordinates feedback gains feedback loops force feedback force sensors format global control gravity gripper i-th joint industrial robots inertia introduced inverse kinematic joint coordinates joints angles kinematic Liapunov's function linear model Manipulation Robots matrix microprocessor model of robot models of actuators moments moments of inertia motion nominal driving torques nominal trajectory nonlinear model on-line OOOO0E optimal regulator output PID controller presented in Fig problem reaction forces realized robot control robot dynamics robot hand robot in Fig robot joints robot mechanism robotic system servo gains servo system simulation stability degree steady state error SUBROUTINE task tion tracking transfer function trol TYPE values variable vector workpiece parameters