Applied Control of Manipulation Robots: Analysis, Synthesis and Exercises

A/D converter accelerations actuator input applied assume asymptotic stability calculated centralized nominal control compensate complex computation constraint control law control level control signal coupling D.C. electro-motor desired position determine dynamic model eigen-values ensure exponential stability feedback gains feedback loops force feedback format 1X given in Table global control gravity gripper i-th joint inertia input signal introduced inverse kinematic joints are locked kinematic Liapunov's function linear model matrix microprocessor model of deviation model of robot models of actuators moment of inertia moments nominal driving torques nominal programmed control nominal trajectory nonlinear model output PID controller position q presented in Fig problem rad/s realized region region X robot control robot hand robot in Fig robot joints robot mechanism robotic system satisfy second joint servo gains servo system simulation stability degree steady state error SUBROUTINE subsystem task tion tracking transfer function trol values variable vector