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Non-Adaptive and Adaptive Control of Manipulation Robots

The material presented in this monograph is a logical continuation of research results achieved in the control of manipulation robots. This is in a way, a synthesis of many-year research efforts of the associates of Robotics Department, Mihailo Pupin Institute, in the field of dynamic control.of rob...

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Bibliographic Details
Main Authors: Vukobratovic, M., Stokic, D. (Author), Kircanski, N. (Author)
Format: eBook
Language:English
Published: Berlin, Heidelberg Springer Berlin Heidelberg 1985, 1985
Edition:1st ed. 1985
Series:Scientific Fundamentals of Robotics
Subjects:
Industrial Management
Control, Robotics, Automation
Classical Mechanics
Applied Dynamical Systems
Artificial Intelligence
Nonlinear Theories
Control Engineering
Robotics
Mechanics
Automation
Dynamics
Online Access:
Collection: Springer Book Archives -2004 - Collection details see MPG.ReNa
Table of Contents:
  • 1 Computer-Assisted Generation of Robot Dynamic Models in Analytical Form
  • 1.1. Introduction
  • 1.2. A closed form dynamic model of a robotic manipulator
  • 1.3. Analytical representation of the variables of dynamic model
  • 1.4. Construction of real-time program code
  • 1.5. Example
  • References
  • 2 Non-Adaptive Control of Manipulation Robots with Variable Parameters
  • 2.1. Introduction
  • 2.2. Mathematical model of manipulation robots and control task definition
  • 2.3. Survey of non-adaptive control algorithms
  • 2.4. Synthesis of local controllers
  • 2.5. Stability analysis of manipulation robots
  • 2.6. Global control synthesis
  • 2.7. Example
  • Conclusion
  • References
  • Appendix 2A Analysis of the Influence of Actuator Models Complexity on Manipulator Control synthesis
  • Appendix 2B Practical Stability of Manipulation Robots
  • 3 Adaptive Control Algorithms
  • 3.1. Introduction
  • 3.2. Centralized adaptive control of robot manipulators
  • 3.3. Decentralized adaptive control strategy for mechanical manipulators
  • References
  • 4 Computer-Aided Control Synthesis
  • 4.1. Introduction
  • 4.2. Software package for computer aided synthesis
  • 4.3. Example
  • Conclusion
  • References
  • 5 Implementation of Control Algorithms
  • 5.1. Introduction
  • 5.2. Concept of general purpose controller
  • 5.3. Numerical complexity of control laws
  • 5.4. Parameter identification
  • 5.5. Microprocessor implementation of non-adaptive control laws
  • References

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