Control Of Robot Manipulators

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.

Tutors can design entry-level courses in robotics with a strong orientation to the fundamental discipline of manipulator control pdf solutions manual Overheads will save a great deal of time with class preparation and will give students a low-effort basis for more detailed class notes Courses for senior undergraduates can be designed around Parts I – III; these can be augmented for masters courses using Part IV

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.

The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.

Robot interaction control is one of the most challenging targets for industrial robotics. While it would provide the robotic systems with a high degree of autonomy, its effectiveness is limited by the complexity of this problem and by the necessity of special sensors (six-dof force sensors). On the other hand, the control methodologies to be adopted for addressing this problem can be considered mature and well-assessed. All the known interaction control strategies (e.g. impedance, direct force control) are tackled and reshuffled in a geometrically consistent way for simplification of the task specification and enhancement of the execution performance. This book represents the first step towards the application of theoretical results at an industrial level; in fact each proposed control algorithm is experimentally tested here on an industrial robotic setup.

This book presents recent advances in robot control theory on task space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modelling and calibration errors of the sensors. Several sensory task space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task space regional feedback are included. These formulations and methods give robots a high degree of flexibility in dealing with unforeseen changes and uncertainties in its kinematics and dynamics, which is similar to human reaching movements and tool manipulation. It also leads to the solution of several long-standing problems and open issues in robot control, such as force control with constraint uncertainty, control of multi-fingered robot hand with uncertain contact points, singularity issue of Jacobian matrix, global task-space control, which are also presented in this book. The target audience for this book includes scientists, engineers and practitioners involved in the field of robot control theory.

Homogeneous transformations; Kinematic equations; Solving kinematic equations; Differential relationships; Motion trajectories; Dynamics; Control; Static forces; Compliance; Programming.