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...

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Bibliographic Details
Main Authors: Vukobratovic, Miomir, Stokic, Dragan (Author)
Format: eBook
Language:English
Published: Berlin, Heidelberg Springer Berlin Heidelberg 1989, 1989
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