Robot Manipulator Control: Theory and Practice

Front Cover
CRC Press, Dec 12, 2003 - Technology & Engineering - 638 pages
2 Reviews
Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.


 

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Contents

Adaptive Control of Robotic Manipulators
329
62 Adaptive Control by a ComputedTorque Approach
330
Adaptive ComputedTorque Controller
333
63 Adaptive Control by an InertiaRelated Approach
341
Examination of a PD Plus Gravity Controller
343
Adaptive InertiaRelated Controller
344
64 Adaptive Controllers Based on Passivity
349
General Adaptive Update Rule
356

Sensor Data Processing
16
REFERENCES
19
Introduction to Control Theory
21
22 Linear StateVariable Systems
22
DiscreteTime Systems
28
23 Nonlinear StateVariable Systems
31
DiscreteTime Systems
35
24 Nonlinear Systems and Equilibrium Points
36
25 Vector Spaces Norms and Inner Products
39
Norms of Signals and Systems
40
Inner Products
48
26 Stability Theory
51
27 Lyapunov Stability Theorems
67
Lyapunov Theorems
69
The Autonomous Case
72
28 InputOutput Stability
80
29 Advanced Stability Results
82
PositiveReal Systems
84
Lures Problem
85
The MKY Lemma
86
210 Useful Theorems and Lemmas
88
Total Stability Theorem
89
211 Linear Controller Design
93
212 Summary and Notes
101
REFERENCES
103
Robot Dynamics
107
32 LagrangeEuler Dynamics
108
Lagranges Equations of Motion
111
Derivation of Manipulator Dynamics
119
33 Structure and Properties of the Robot Equation
125
Properties of the Inertia Matrix
126
Properties of the CoriolisCentripetal Term
127
Properties of the Gravity Friction and Disturbance
134
Linearity in the Parameters
136
Passivity and Conservation of Energy
141
34 StateVariable Representations and Feedback Linearization
142
Hamiltonian Formulation
143
PositionVelocity Formulations
145
35 Cartesian and Other Dynamics
148
Structure and Properties of the Cartesian Dynamics
150
36 Actuator Dynamics
152
ThirdOrder ArmPlusActuator Dynamics
154
Dynamics with Joint Flexibility
155
37 Summary
161
REFERENCES
163
PROBLEMS
166
ComputedTorque Control
169
42 Path Generation
170
Converting Cartesian Trajectories to Joint Space
171
Polynomial Path Interpolation
173
Linear Function with Parabolic Blends
176
MinimumTime Trajectories
178
43 Computer Simulation of Robotic Systems
181
Simulation of Digital Robot Controllers
182
44 ComputedTorque Control
185
PD OuterLoop Design
188
PID OuterLoop Design
197
Class of ComputedTorqueLike Controllers
202
PDPlusGravity Controller
205
Classical Joint Control
208
45 Digital Robot Control
222
Guaranteed Performance on Sampling
224
Discretization of Inner Nonlinear Loop
225
Joint Velocity Estimates from Position Measurements
226
Actuator Saturation and Integrator Antiwindup Compensation
228
46 Optimal OuterLoop Design
243
Linear Quadratic ComputedTorque Design
246
47 Cartesian Control
248
Cartesian Error Computation
250
48 Summary
251
REFERENCES
253
PROBLEMS
257
Robust Control of Robotic Manipulators
263
52 FeedbackLinearization Controllers
265
Lyapunov Designs
268
InputOutput Designs
273
53 Nonlinear Controllers
293
VariableStructure Controllers
297
SaturationType Controllers
306
54 Dynamics Redesign
316
Imaginary Robot Concept
318
55 Summary
320
REFERENCES
321
PROBLEMS
324
65 Persistency of Excitation
357
66 Composite Adaptive Controller
361
Torque Filtering
362
LeastSquares Estimation
365
Composite Adaptive Controller
368
67 Robustness of Adaptive Controllers
371
TorqueBased Disturbance Rejection Method
372
EstimatorBased Disturbance Rejection Method
375
68 Summary
377
REFERENCES
379
PROBLEMS
381
Advanced Control Techniques
383
72 Robot Controllers with Reduced OnLine Computation
384
Repetitive Control Law
392
73 Adaptive Robust Control
399
74 Compensation for Actuator Dynamics
407
Electrical Dynamics
408
Joint Flexibilities
416
75 Summary
426
REFERENCES
427
PROBLEMS
429
Neural Network Control of Robots
431
82 Background in Neural Networks
433
Linearintheparameter neural nets
437
83 Tracking Control Using Static Neural Networks
440
Adaptive Control
442
Neural Net Feedback Tracking Controller
443
84 Tuning Algorithms for LinearintheParameters NN
445
85 Tuning Algorithms for NonlinearintheParameters NN
449
Passivity Properties of NN Controllers
453
Passivity Properties of 2layer NN Controllers
455
Passivity Properties of 1Layer NN Controllers
458
REFERENCES
459
Force Control
463
92 Stiffness Control
464
The Jacobian Matrix and Environmental Forces
467
Stiffness Control of an NLink Manipulator
474
93 Hybrid PositionForce Control
478
Hybrid PositionForce Control of a Cartesian TwoLink Arm
479
Hybrid PositionForce Control of an NLink Manipulator
482
Implementation Issues
487
94 Hybrid Impedance Control
489
Modeling the Environment
490
Position and Force Control Models
492
Impedance Control Formulation
494
Implementation Issues
499
95 Reduced State PositionForce Control
501
Reduced State Modeling and Control
504
Implementation Issues
509
96 Summary
510
REFERENCES
513
PROBLEMS
514
Robot Control Implementation and Software
517
101 Introduction
518
102 Tools and Technologies
520
103 Design of the Robotic Platform
523
Core Classes
526
Robot Control Classes
527
External Device Classes
532
Utility Classes
533
Object Manager
534
Concurrency Communication Model
537
Plotting and Control Tuning Capabilities
538
Math Library
540
Error Management and the FrontEnd GUI
542
104 Operation of the Robotic Platform
543
Utility Programs for Moving the Robot
544
Writing Compiling Linking and Starting Control Programs
545
105 Programming Examples
548
106 Summary
550
REFERENCES
551
Review of Robot Kinematics and Jacobians
555
A2 Robot Kinematics
558
A3 The Manipulator Jacobian
576
REFERENCES
589
Software for Controller Simulation
591
REFERENCE
597
Dynamics of Some Common Robot Arms
599
C1 SCARA ARM
600
C2 Stanford Manipulator
601
C3 PUMA 560 Manipulator
603
REFERENCES
607
Index
609
Copyright

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