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Robot Manipulator Control : Theory and Practice - Frank L. Lewis

Robot Manipulator Control

Theory and Practice

Hardcover Published: 1st January 2004
ISBN: 9780824740726
Number Of Pages: 638

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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.

Series Introductionp. v
Prefacep. vii
Commercial Robot Manipulatorsp. 1
Introductionp. 1
Flexible Robotic Workcellsp. 2
Commercial Robot Configurations and Typesp. 3
Manipulator Performancep. 3
Common Kinematic Configurationsp. 4
Drive Types of Commercial Robotsp. 9
Commercial Robot Controllersp. 10
Sensorsp. 12
Types of Sensorsp. 13
Sensor Data Processingp. 16
Referencesp. 19
Introduction to Control Theoryp. 21
Introductionp. 21
Linear State-Variable Systemsp. 22
Continuous-Time Systemsp. 22
Discrete-Time Systemsp. 28
Nonlinear State-Variable Systemsp. 31
Continuous-Time Systemsp. 31
Discrete-Time Systemsp. 35
Nonlinear Systems and Equilibrium Pointsp. 36
Vector Spaces, Norms, and Inner Productsp. 39
Linear Vector Spacesp. 39
Norms of Signals and Systemsp. 40
Inner Productsp. 48
Matrix Propertiesp. 48
Stability Theoryp. 51
Lyapunov Stability Theoremsp. 67
Functions Of Class Kp. 67
Lyapunov Theoremsp. 69
The Autonomous Casep. 72
Input/Output Stabilityp. 80
Advanced Stability Resultsp. 82
Passive Systemsp. 82
Positive-Real Systemsp. 84
Lure's Problemp. 85
The MKY Lemmap. 86
Useful Theorems and Lemmasp. 88
Small-Gain Theoremp. 88
Total Stability Theoremp. 89
Linear Controller Designp. 93
Summary and Notesp. 101
Referencesp. 103
Robot Dynamicsp. 107
Introductionp. 107
Lagrange-Euler Dynamicsp. 108
Force, Inertia, and Energyp. 108
Lagrange's Equations of Motionp. 111
Derivation of Manipulator Dynamicsp. 119
Structure and Properties of the Robot Equationp. 125
Properties of the Inertia Matrixp. 126
Properties of the Coriolis/Centripetal Termp. 127
Properties of the Gravity, Friction, and Disturbancep. 134
Linearity in the Parametersp. 136
Passivity and Conservation of Energyp. 141
State-Variable Representations and Feedback Linearizationp. 142
Hamiltonian Formulationp. 143
Position/Velocity Formulationsp. 145
Feedback Linearizationp. 145
Cartesian and Other Dynamicsp. 148
Cartesian Arm Dynamicsp. 148
Structure and Properties of the Cartesian Dynamicsp. 150
Actuator Dynamicsp. 152
Dynamics of a Robot Arm with Actuatorsp. 152
Third-Order Arm-Plus-Actuator Dynamicsp. 154
Dynamics with Joint Flexibilityp. 155
Summaryp. 161
Referencesp. 163
Problemsp. 166
Computed-Torque Controlp. 169
Introductionp. 169
Path Generationp. 170
Converting Cartesian Trajectories to Joint Spacep. 171
Polynomial Path Interpolationp. 173
Linear Function with Parabolic Blendsp. 176
Minimum-Time Trajectoriesp. 178
Computer Simulation of Robotic Systemsp. 181
Simulation of Robot Dynamicsp. 181
Simulation of Digital Robot Controllersp. 182
Computed-Torque Controlp. 185
Derivation of Inner Feedforward Loopp. 185
PD Outer-Loop Designp. 188
PID Outer-Loop Designp. 197
Class of Computed-Torque-Like Controllersp. 202
PD-Plus-Gravity Controllerp. 205
Classical Joint Controlp. 208
Digital Robot Controlp. 222
Guaranteed Performance on Samplingp. 224
Discretization of Inner Nonlinear Loopp. 225
Joint Velocity Estimates from Position Measurementsp. 226
Discretization of Outer PD/PID Control Loopp. 226
Actuator Saturation and Integrator Antiwindup Compensationp. 228
Optimal Outer-Loop Designp. 243
Linear Quadratic Optimal Controlp. 243
Linear Quadratic Computed-Torque Designp. 246
Cartesian Controlp. 248
Cartesian Computed-Torque Controlp. 248
Cartesian Error Computationp. 250
Summaryp. 251
Referencesp. 253
Problemsp. 257
Robust Control of Robotic Manipulatorsp. 263
Introductionp. 263
Feedback-Linearization Controllersp. 265
Lyapunov Designsp. 268
Input-Output Designsp. 273
Nonlinear Controllersp. 293
Direct Passive Controllersp. 293
Variable-Structure Controllersp. 297
Saturation-Type Controllersp. 306
Dynamics Redesignp. 316
Decoupled Designsp. 316
Imaginary Robot Conceptp. 318
Summaryp. 320
Referencesp. 321
Problemsp. 324
Adaptive Control of Robotic Manipulatorsp. 329
Introductionp. 329
Adaptive Control by a Computed-Torque Approachp. 330
Approximate Computed-Torque Controllerp. 330
Adaptive Computed-Torque Controllerp. 333
Adaptive Control by an Inertia-Related Approachp. 341
Examination of a PD Plus Gravity Controllerp. 343
Adaptive Inertia-Related Controllerp. 344
Adaptive Controllers Based on Passivityp. 349
Passive Adaptive Controllerp. 349
General Adaptive Update Rulep. 356
Persistency of Excitationp. 357
Composite Adaptive Controllerp. 361
Torque Filteringp. 362
Least-Squares Estimationp. 365
Composite Adaptive Controllerp. 368
Robustness of Adaptive Controllersp. 371
Torque-Based Disturbance Rejection Methodp. 372
Estimator-Based Disturbance Rejection Methodp. 375
Summaryp. 377
Referencesp. 379
Problemsp. 381
Advanced Control Techniquesp. 383
Introductionp. 383
Robot Controllers with Reduced On-Line Computationp. 384
Desired Compensation Adaptation Lawp. 384
Repetitive Control Lawp. 392
Adaptive Robust Controlp. 399
Compensation for Actuator Dynamicsp. 407
Electrical Dynamicsp. 408
Joint Flexibilitiesp. 416
Summaryp. 426
Referencesp. 427
Problemsp. 429
Neural Network Control of Robotsp. 431
Introductionp. 431
Background in Neural Networksp. 433
Multilayer Neural Networksp. 433
Linear-in-the-parameter neural netsp. 437
Tracking Control Using Static Neural Networksp. 440
Robot Arm Dynamics and Error Systemp. 440
Adaptive Controlp. 442
Neural Net Feedback Tracking Controllerp. 443
Tuning Algorithms for Linear-in-the-Parameters NNp. 445
Tuning Algorithms for Nonlinear-in-the-Parameters NNp. 449
Passivity Properties of NN Controllersp. 453
Passivity of the Robot Tracking Error Dynamicsp. 453
Passivity Properties of 2-layer NN Controllersp. 455
Passivity Properties of 1-Layer NN Controllersp. 458
Summaryp. 458
Referencesp. 459
Force Controlp. 463
Introductionp. 463
Stiffness Controlp. 464
Stiffness Control of a Single-Degree-of-Freedom Manipulatorp. 464
The Jacobian Matrix and Environmental Forcesp. 467
Stiffness Control of an N-Link Manipulatorp. 474
Hybrid Position/Force Controlp. 478
Hybrid Position/Force Control of a Cartesian Two-Link Armp. 479
Hybrid Position/Force Control of an N-Link Manipulatorp. 482
Implementation Issuesp. 487
Hybrid Impedance Controlp. 489
Modeling the Environmentp. 490
Position and Force Control Modelsp. 492
Impedance Control Formulationp. 494
Implementation Issuesp. 499
Reduced State Position/Force Controlp. 501
Effects of Holonomic Constraints on the Manipulator Dynamicsp. 501
Reduced State Modeling and Controlp. 504
Implementation Issuesp. 509
Summaryp. 510
Referencesp. 513
Problemsp. 514
Robot Control Implementation and Softwarep. 517
Introductionp. 518
Tools and Technologiesp. 520
Design of the Robotic Platformp. 523
Overviewp. 523
Core Classesp. 526
Robot Control Classesp. 527
External Device Classesp. 532
Utility Classesp. 533
Configuration Managementp. 533
Object Managerp. 534
Concurrency/Communication Modelp. 537
Plotting and Control Tuning Capabilitiesp. 538
Math Libraryp. 540
Error Management and the Front-End GUIp. 542
Operation of the Robotic Platformp. 543
Scene Viewer and Control Panelsp. 543
Utility Programs for Moving the Robotp. 544
Writing, Compiling, Linking, and Starting Control Programsp. 545
Programming Examplesp. 548
Comparison of Simulation and Implementationp. 548
Virtual Wallsp. 548
Summaryp. 550
Referencesp. 551
Review of Robot Kinematics and Jacobiansp. 555
Basic Manipulator Geometriesp. 555
Robot Kinematicsp. 558
The Manipulator Jacobianp. 576
Referencesp. 589
Software for Controller Simulationp. 591
Referencesp. 597
Dynamics of Some Common Robot Armsp. 599
SCARA ARMp. 600
Stanford Manipulatorp. 601
PUMA 560 Manipulatorp. 603
Referencesp. 607
Indexp. 609
Table of Contents provided by Ingram. All Rights Reserved.

ISBN: 9780824740726
ISBN-10: 0824740726
Series: Control Engineering
Audience: Tertiary; University or College
Format: Hardcover
Language: English
Number Of Pages: 638
Published: 1st January 2004
Publisher: CRC PR INC
Country of Publication: US
Dimensions (cm): 23.11 x 15.85  x 3.4
Weight (kg): 0.95
Edition Number: 2
Edition Type: New edition