Ebook: 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 control".

Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the text’s four parts:

• robot dynamics and mathematical preliminaries;

• set-point model-based control;

• tracking model-based control; and

• adaptive and velocity-independent control

a complete course in robot control based on joint space can be constructed for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used throughout to test the examined controllers by experimentation.

In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual. All of this labour-saving supplementary material can be downloaded from springeronline.com.

---

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 control".

Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the text’s four parts:

• robot dynamics and mathematical preliminaries;

• set-point model-based control;

• tracking model-based control; and

• adaptive and velocity-independent control

a complete course in robot control based on joint space can be constructed for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used throughout to test the examined controllers by experimentation.

In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual. All of this labour-saving supplementary material can be downloaded from springeronline.com.

---

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 control".

Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the text’s four parts:

• robot dynamics and mathematical preliminaries;

• set-point model-based control;

• tracking model-based control; and

• adaptive and velocity-independent control

a complete course in robot control based on joint space can be constructed for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used throughout to test the examined controllers by experimentation.

In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual. All of this labour-saving supplementary material can be downloaded from springeronline.com.

Content:
Front Matter....Pages i-xxvi
Introduction to Part I....Pages 3-5
What Does “Control of Robots” Involve?....Pages 7-17
Mathematical Preliminaries....Pages 19-57
Robot Dynamics....Pages 59-93
Properties of the Dynamic Model....Pages 95-111
Case Study: The Pelican Prototype Robot....Pages 113-132
Introduction to Part II....Pages 135-140
Proportional Control plus Velocity Feedback and PD Control....Pages 141-156
PD Control with Gravity Compensation....Pages 157-169
PD Control with Desired Gravity Compensation....Pages 171-199
PID Control....Pages 201-220
Introduction to Part III....Pages 223-226
Computed-torque Control and Computed-torque+ Control....Pages 227-241
PD+ Control and PD Control with Compensation....Pages 243-261
Feedforward Control and PD Control plus Feedforward....Pages 263-285
Introduction to Part IV....Pages 289-289
P“D” Control with Gravity Compensation and P“D” Control with Desired Gravity Compensation....Pages 291-311
Introduction to Adaptive Robot Control....Pages 313-335
PD Control with Adaptive Desired Gravity Compensation....Pages 337-359
PD Control with Adaptive Compensation....Pages 361-380
Back Matter....Pages 381-426

---

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 control".

Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the text’s four parts:

• robot dynamics and mathematical preliminaries;

• set-point model-based control;

• tracking model-based control; and

• adaptive and velocity-independent control

a complete course in robot control based on joint space can be constructed for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used throughout to test the examined controllers by experimentation.

In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual. All of this labour-saving supplementary material can be downloaded from springeronline.com.

Content:
Front Matter....Pages i-xxvi
Introduction to Part I....Pages 3-5
What Does “Control of Robots” Involve?....Pages 7-17
Mathematical Preliminaries....Pages 19-57
Robot Dynamics....Pages 59-93
Properties of the Dynamic Model....Pages 95-111
Case Study: The Pelican Prototype Robot....Pages 113-132
Introduction to Part II....Pages 135-140
Proportional Control plus Velocity Feedback and PD Control....Pages 141-156
PD Control with Gravity Compensation....Pages 157-169
PD Control with Desired Gravity Compensation....Pages 171-199
PID Control....Pages 201-220
Introduction to Part III....Pages 223-226
Computed-torque Control and Computed-torque+ Control....Pages 227-241
PD+ Control and PD Control with Compensation....Pages 243-261
Feedforward Control and PD Control plus Feedforward....Pages 263-285
Introduction to Part IV....Pages 289-289
P“D” Control with Gravity Compensation and P“D” Control with Desired Gravity Compensation....Pages 291-311
Introduction to Adaptive Robot Control....Pages 313-335
PD Control with Adaptive Desired Gravity Compensation....Pages 337-359
PD Control with Adaptive Compensation....Pages 361-380
Back Matter....Pages 381-426
....