Buch, Englisch, 426 Seiten, Book w. online files / update, Format (B × H): 157 mm x 238 mm, Gewicht: 1400 g
Buch, Englisch, 426 Seiten, Book w. online files / update, Format (B × H): 157 mm x 238 mm, Gewicht: 1400 g
Reihe: Advanced Textbooks in Control and Signal Processing
ISBN: 978-1-85233-994-4
Verlag: Springer
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. 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 create a complete course in robot control based on joint space 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 used throughout to test the controllers under examination 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.
Zielgruppe
Graduate students in robotics, mechatronics and control; undergraduate students in robotics, mechatronics and control; libraries; academics tutoring courses in robotics, mechatronics and control
Autoren/Hrsg.
Fachgebiete
- Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
- Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
- Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Überwachungstechnik
- Mathematik | Informatik EDV | Informatik Programmierung | Softwareentwicklung Grafikprogrammierung
- Technische Wissenschaften Maschinenbau | Werkstoffkunde Produktionstechnik Werkzeugbau
- Technische Wissenschaften Maschinenbau | Werkstoffkunde Maschinenbau Triebwerkstechnik, Energieübertragung
Weitere Infos & Material
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.