Control of robot manipulators in joint space
Robot control is the backbone of robotics, an essential discipline in the maintenance of high quality and productivity in modern industry. The most common method of control for industrial robotic manipulators relies on the measurement and amendment of joint displacement: so-called "joint-space...
Guardado en:
| Autores principales: | , , , , |
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| Formato: | Livre numérique |
| Lenguaje: | Anglais |
| Publicado: |
London :
Springer London
[20..].
Cham : Springer Nature |
| Edición: | 1st ed. 2005. |
| Colección: | Advanced Textbooks in Control and Signal Processing
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| Acceso en línea: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| Nota: |
Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| Autres localisations: | Voir dans le Sudoc |
| Edition sous un autre format: | • Control of Robot Manipulators in Joint Space, Texte imprimé, 9781848008915 • Control of Robot Manipulators in Joint Space, by Rafael Kelly, Victor Santibáñez Davila, Antonio Loría., London, Springer, 2005, 1vol. (xxvi-426 p.), Advanced textbooks in control and signal processing, 1-85233-994-2 |
Tabla de Contenidos:
- Preliminaries to Part I What Does Control of Robots Involve? Mathematical Preliminaries Robot Dynamics Properties of the Dynamic Model Case Study: The Pelican Prototype Robot Position Control to Part II Proportional Control plus Velocity Feedback and PD Control PD Control with Gravity Compensation PD Control with Desired Gravity Compensation PID Control Motion Control to Part III Computed-torque Control and Computed-torque+ Control PD+ Control and PD Control with Compensation Feedforward Control and PD Control plus Feedforward Advanced Topics to Part IV P D Control with Gravity Compensation and P D Control with Desired Gravity Compensation to Adaptive Robot Control PD Control with Adaptive Desired Gravity Compensation PD Control with Adaptive Compensation.