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Non-adaptive and adaptive control of manipulation robots

Author: Miomir Vukobratović; D Stokić; N Kirćanski
Publisher: Berlin ; New York : Springer-Verlag, ©1985.
Series: Scientific fundamentals of robotics, 5.; Communications and control engineering series.
Edition/Format:   Print book : EnglishView all editions and formats
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Additional Physical Format: Online version:
Vukobratović, Miomir.
Non-adaptive and adaptive control of manipulation robots.
Berlin ; New York : Springer-Verlag, ©1985
(OCoLC)563188178
Document Type: Book
All Authors / Contributors: Miomir Vukobratović; D Stokić; N Kirćanski
ISBN: 038713073X 9780387130736 354013073X 9783540130734
OCLC Number: 12420831
Description: x, 383 pages : illustrations ; 25 cm.
Contents: 1 Computer-Assisted Generation of Robot Dynamic Models in Analytical Form.- 1.1. Introduction.- 1.2. A closed form dynamic model of a robotic manipulator.- 1.3. Analytical representation of the variables of dynamic model.- 1.4. Construction of real-time program code.- 1.5. Example.- References.- 2 Non-Adaptive Control of Manipulation Robots with Variable Parameters.- 2.1. Introduction.- 2.2. Mathematical model of manipulation robots and control task definition.- 2.2.1. Mathematical model.- 2.2.2. Control task definition.- 2.3. Survey of non-adaptive control algorithms.- 2.3.1. Optimal control synthesis.- 2.3.2. Optimal regulator.- 2.3.3. "Inverse problem" technique.- 2.3.4. Force feedback.- 2.3.5. Decoupled control.- 2.3.6. Decentralized control.- 2.3.7. Other approaches.- 2.4. Synthesis of local controllers.- 2.4.1. Optimal servosystems.- 2.4.2. Robust servo-controllers.- 2.4.3. Synthesis of local controller by pole-placement method.- 2.4.4. Local control task.- 2.5. Stability analysis of manipulation robots.- 2.6. Global control synthesis.- 2.7. Example.- Conclusion.- References.- Appendix 2A Analysis of the Influence of Actuator Models Complexity on Manipulator Control synthesis.- Appendix 2B Practical Stability of Manipulation Robots.- 3 Adaptive Control Algorithms.- 3.1. Introduction.- 3.2. Centralized adaptive control of robot manipulators.- 3.2.1. Self-tuning control strategy.- 3.2.2. Centralized reference model-following control.- 3.2.3. Indirect centralized adaptive control.- 3.3. Decentralized adaptive control strategy for mechanical manipulators.- 3.3.1. Self-tuning local controllers.- 3.3.2. Decentralized reference model-following control.- 3.3.3. Indirect decentralized adaptive control.- References.- 4 Computer-Aided Control Synthesis.- 4.1. Introduction.- 4.2. Software package for computer aided synthesis.- 4.2.1. Block for setting data on manipulator structure.- 4.2.2. Block for calculating desired kinematic trajectory.- 4.2.3. Block for setting dynamic parameters.- 4.2.4. Block for setting data on actuators.- 4.2.5. Block for synthesis of nominal dynamics.- 4.2.6. Block for setting control task.- 4.2.7. Block for local control synthesis.- 4.2.8. Block for stability analysis of decentralized control.- 4.2.9. Block for global control synthesis.- 4.2.10. Block for adaptive control synthesis.- 4.2.11. Block for discrete-time control synthesis.- 4.2.12. Block for simulation.- 4.3. Example.- Conclusion.- References.- 5 Implementation of Control Algorithms.- 5.1. Introduction.- 5.2. Concept of general purpose controller.- 5.3. Numerical complexity of control laws.- 5.3.1. Numerical complexity of dynamic models.- 5.3.2. Numerical complexity of non-adaptive decentralized control laws.- 5.3.3. Numerical complexity of adaptive control laws.- 5.4. Parameter identification.- 5.5. Microprocessor implementation of non-adaptive control laws.- References.
Series Title: Scientific fundamentals of robotics, 5.; Communications and control engineering series.
Responsibility: M. Vukobratović, D. Stokić, N. Kirćanski.

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