Download or read book Design of Robust PID Control of Interpolated Joint Trajectories written by University of Alberta. Alberta Centre for Machine Intelligence and Robotics and published by . This book was released on 1989 with total page 11 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "PID control is normally employed as the control law to compute the error-driven corrective torque for control of the joints of a robot manipulator. For many robot controllers the real-time contraints are such that a new position command is calculated by the motion planner every n servo periods with the remaining intermediate setpoints being linearly interpolated. In this paper an algorithm is presented which minimizes the delay between the time of the position transducer reading and the application of the reaction torque. Some of the practical issues of fine tuning for joint friction and dynamics compensation are also discussed."
Download or read book PID Control Design for Robotic Manipulator written by 최영진 and published by 한양대학교 출판부. This book was released on 2019-12-16 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: The PID control has been a representative one for control systems. Also, though it has a long history as much as its life force since Ziegler and Nichols published the empirical tuning rules in 1942, surprisingly, it has never been changed in the structure itself. The strength of PID control lies in the simplicity, lucid meaning, and clear effect. For example, the optimality of PID control, performance tuning rules, automatic performance tuning method, and output feedback PID control will be thoroughly discussed in this book.
Download or read book Design of Robust PID Controllers with Constrained Control Signal Activity written by Olof Garpinger and published by . This book was released on 2009 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Advances in Smart Grid Technology written by Ning Zhou and published by Springer Nature. This book was released on 2020-09-18 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book comprises the select proceedings of the International Conference on Power Engineering Computing and Control (PECCON) 2019. This volume covers several important topics such as optimal data selection and error-free data acquiring via artificial intelligence and machine learning techniques, information and communication technologies for monitoring and control of smart grid components, and data security in smart grid network. In addition, it also focuses on economics of renewable electricity generation, policies for distributed generation, smart eco-structures and systems. This book can be useful for beginners, researchers as well as professionals interested in the area of smart grid technology.
Download or read book Robot Manipulator Control written by Frank L. Lewis and published by CRC Press. This book was released on 2003-12-12 with total page 646 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
Download or read book Robot Dynamics And Control written by Mark W Spong and published by John Wiley & Sons. This book was released on 2008-08-04 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.
Download or read book Motion Control of Underactuated Mechanical Systems written by Javier Moreno-Valenzuela and published by Springer. This book was released on 2017-07-11 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume is the first to present a unified perspective on the control of underactuated mechanical systems. Based on real-time implementation of parameter identification, this book provides a variety of algorithms for the Furuta pendulum and the inertia wheel pendulum, which are two-degrees-of-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines.
Download or read book International Aerospace Abstracts written by and published by . This book was released on 1997 with total page 940 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1993 with total page 354 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Index to IEEE Publications written by Institute of Electrical and Electronics Engineers and published by . This book was released on 1998 with total page 1234 pages. Available in PDF, EPUB and Kindle. Book excerpt: Issues for 1973- cover the entire IEEE technical literature.
Download or read book Robust Control Design with MATLAB written by Da-Wei Gu and published by Springer Science & Business Media. This book was released on 2006-03-30 with total page 393 pages. Available in PDF, EPUB and Kindle. Book excerpt: Shows readers how to exploit the capabilities of the MATLAB® Robust Control and Control Systems Toolboxes to the fullest using practical robust control examples.
Download or read book Control of Robot Manipulators written by Frank L. Lewis and published by MacMillan Publishing Company. This book was released on 1993 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Linear Controller Design written by Stephen P. Boyd and published by . This book was released on 1991 with total page 440 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book The Second IEEE Conference on Control Applications written by and published by . This book was released on 1993 with total page 602 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Modern Robotics written by Kevin M. Lynch and published by Cambridge University Press. This book was released on 2017-05-25 with total page 545 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.
Download or read book Robotics written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2010-08-20 with total page 644 pages. Available in PDF, EPUB and Kindle. Book excerpt: Based on the successful Modelling and Control of Robot Manipulators by Sciavicco and Siciliano (Springer, 2000), Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. It has been expanded to include coverage of mobile robots, visual control and motion planning. A variety of problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained. The text includes coverage of fundamental topics like kinematics, and trajectory planning and related technological aspects including actuators and sensors. To impart practical skill, examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, end-of-chapter exercises are proposed, and the book is accompanied by an electronic solutions manual containing the MATLAB® code for computer problems; this is available free of charge to those adopting this volume as a textbook for courses.
Download or read book Robot Force Control written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
