The fundamentals for controlling robot manipulators in a systems theory framework are presented in this book. From the nonlinear models of the manipulator systems, linearized models are obtained, and their basic properties, such as stability and complete controllability, are studied. The text gives detailed descriptions of controller design approaches, including PID controllers and adaptive self-tuning controllers. It provides the reader with the basic tools to apply the design methods of system theory to practical applications of robot sytems, and to achieve competency at the level of research in the area. Many examples are given, including digital simulations of manipulator motions, and each chapter contains a set of analytical and computer problems. The text will benefit electrical engineers, mechanical and civil engineers and computer scientists.
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ISBN-13
978-0-471-85714-3 (9780471857143)
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Schweitzer Klassifikation
Robotic systems; kinematics for manipulator joints, links and gripper; inverse solution to kinematic equations; angular/translational velocity and force/torque relations in joint and base co-ordinates; determination of dynamical models for manipulators; state variable representation, and linearization of nonlinear models; adaptive control of manipulator gross motion; compliant motion control for robot manipulators. Appendices: Hamilton's principle and derivation of Euler-Lagrange's equations for a dynamical system; derivation of equations of motion for a serial link manipulator in Lagrange's formulation; derivation of recursive Lagrange's equations for manipulator motion; equations of Newton and Euler for dynamical modelling; review of self-tuning controller design by the explicit method.
