Applied Control of Manipulation Robots Analysis, Synthesis and Exercises
The first book of the new, textbook series, entitled Applied Dynamics of Manipulation Robots: Modelling, Analysis and Examples, by M. Vukobratovic, published by Springer-Verlag (1989) was devoted to the problems of dynamic models and dynamic analysis of robots. The present book, the second in the se...
Main Authors: | , |
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Format: | eBook |
Language: | English |
Published: |
Berlin, Heidelberg
Springer Berlin Heidelberg
1989, 1989
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Edition: | 1st ed. 1989 |
Subjects: | |
Online Access: | |
Collection: | Springer Book Archives -2004 - Collection details see MPG.ReNa |
Table of Contents:
- 4.3. Analysis of linearized model of robot
- 4.4. Synthesis of decentralized control for simultaneous motions of robot joints
- Exercises
- References
- Appendix 4.A Stability Analysis of Nonlinear Model of Robot
- 5 Synthesis of Robot Dynamic Control
- 5.1. Introduction
- 5.2. Synthesis of global control
- 5.3. Computer-aided synthesis of robot control
- Exercise
- 5.4. Computed torque method for robot control synthesis
- Exercises
- 5.5. Cartesian based control of robot
- Exercises
- References
- Appendix 5.A Stability Analysis of Robot with Global Control
- Appendix 5.B Centralized Optimal Regulator
- References
- 6 Variable Parameters and Concept of Adaptive Robot Control
- 6.1. Introduction
- 6.2. Robustness of control to variations of robot parameters
- Exercises
- 6.3. The concept of adaptive robot control
- Exercises
- References
- 7 Control of Constrained Motion of Robot
- 7.1. Introduction
- 7.2. An analysis of assembly process by robots
- 1 Concepts of Manipulation Robot Control
- 1.1. Introduction
- 1.2. Automatic manipulation robots
- 1.3. Classification of automatic robots
- 1.4. Characteristic tasks and applications of robots in industry
- 1.5. Implementation of control of manipulation robots
- References
- 2 Kinematic Control Level
- 2.1. Introduction
- 2.2. Direct and inverse kinematic problem-determination of robot position
- 2.3. Trajectory synthesis for manipulation robots
- Exercises
- References
- 3 Synthesis of Servo Systems for Robot Control
- 3.1. Introduction
- 3.2. Dynamic model of robot
- 3.3. Synthesis of local servo system
- Exercises
- 3.4. Synthesis of local PID controller
- Exercises
- 3.5. Synthesis of local servo system for trajectory tracking
- Exercises
- References
- Appendix 3.A Local Optimal Regulator
- References
- 4 Control of Simultaneous Motions of Robot Joints
- 4.1. Introduction
- 4.2. Coupling between joints
- Exercises
- Exercises
- 7.3. Robot control in the stage of parts mating
- Exercises
- 7.4. Hybrid position/force control of robots
- Exercises
- 7.5. Stiffness and impendance control of robots
- Exercises
- References
- Appendix Software Package for Synthesis of Robot Control