Control, Models and Industrial Manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Control, Models and Industrial Manipulators write by Erik Hedberg. This book was released on 2020-11-23. Control, Models and Industrial Manipulators available in PDF, EPUB and Kindle. The two topics at the heart of this thesis are how to improve control of industrial manipulators and how to reason about the role of models in automatic control. On industrial manipulators, two case studies are presented. The first investigates estimation with inertial sensors, and the second compares control by feedback linearization to control based on gain-scheduling. The contributions on the second topic illustrate the close connection between control and estimation in different ways. A conceptual model of control is introduced, which can be used to emphasize the role of models as well as the human aspect of control engineering. Some observations are made regarding block-diagram reformulations that illustrate the relation between models, control and inversion. Finally, a suggestion for how the internal model principle, internal model control, disturbance observers and Youla-Kucera parametrization can be introduced in a unified way is presented.
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Modelling and Control of Robot Manipulators write by Lorenzo Sciavicco. This book was released on 2012-12-06. Modelling and Control of Robot Manipulators available in PDF, EPUB and Kindle. Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
Kinematic Modeling, Identification, and Control of Robotic Manipulators
Kinematic Modeling, Identification, and Control of Robotic Manipulators - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Kinematic Modeling, Identification, and Control of Robotic Manipulators write by Henry W. Stone. This book was released on 1987-09-30. Kinematic Modeling, Identification, and Control of Robotic Manipulators available in PDF, EPUB and Kindle. The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance. The positioning accuracy of commercially-available industrial robotic manipulators depends upon a kinematic model which describes the robot geometry in a parametric form. Manufacturing error in the machining and assembly of manipulators lead to discrepancies between the design parameters and the physical structure. Improving the kinematic perfor mance thus requires the identification of the actual kinematic parameters of each individual robot. The identified kinematic parameters are referred to as the arm signature. Existing robot kinematic models, such as the Denavit-Hartenberg model, are not directly applicable to kinematic parameter identification. In this dissertation we introduce a new kinematic model, called the 5-Model, which is applicable to kinematic parameter identification, and use it as the foundation for our development of a general technique for identifying the kinematic parameters of any robot with rigid links.
Vehicle-Manipulator Systems
Vehicle-Manipulator Systems - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Vehicle-Manipulator Systems write by Pål Johan From. This book was released on 2013-10-02. Vehicle-Manipulator Systems available in PDF, EPUB and Kindle. Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.
Robot Dynamics And Control
Robot Dynamics And Control - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Robot Dynamics And Control write by Mark W Spong. This book was released on 2008-08-04. Robot Dynamics And Control available in PDF, EPUB and Kindle. This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.
