Scientific Fundamentals of Robotics

Non-Adaptive and Adaptive Control of Manipulation Robots

Authors: Vukobratovic, M., Stokic, D., Kircanski, N.

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About this book

The material presented in this monograph is a logical continuation of research results achieved in the control of manipulation robots. This is in a way, a synthesis of many-year research efforts of the associates of Robotics Department, Mihailo Pupin Institute, in the field of dynamic control.of robotic systems. As in Vol. 2 of this Series, all results rely on the mathematical models of dynamics of active spatial mechanisms which offer the possibility for adequate dynamic control of manipula­ tion robots. Compared with Vol. 2, this monograph has three essential new character­ istics, and a variety of new tasks arising in the control of robots which have been formulated and solved for the first time. One of these novelties is nonadaptive control synthesized for the case of large variations in payload parameters, under the condition that the practical stability of the overall system is satisfied. Such a case of control synthesis meets the actual today's needs in industrial robot applications. The second characteristic of the monograph is the efficient adaptive control algorithm based on decentralized control structure intended for tasks in which parameter variations cannot be specified in advance. To be objective, this is not the case in industrial robotics today. Thus, nonadaptive control with and without a particular parameter variation is supplemented by adaptive dynamic control algorithms which will cer­ tainly be applicable in the future industrial practice when parametric identification of workpieces will be required.

Table of contents (7 chapters)

Table of contents (7 chapters)
  • Computer-Assisted Generation of Robot Dynamic Models in Analytical Form

    Pages 1-35

    Vukobratović, D. Sc, Ph. D. Miomir (et al.)

  • Non-Adaptive Control of Manipulation Robots with Variable Parameters

    Pages 36-183

    Vukobratović, D. Sc, Ph. D. Miomir (et al.)

  • Analysis of the Influence of Actuator Models Complexity on Manipulator Control Synthesis

    Pages 184-195

    Vukobratović, D. Sc, Ph. D. Miomir (et al.)

  • Practical Stability of Manipulation Robots

    Pages 196-211

    Vukobratović, D. Sc, Ph. D. Miomir (et al.)

  • Adaptive Control Algorithms

    Pages 212-265

    Vukobratović, D. Sc, Ph. D. Miomir (et al.)

Buy this book

eBook 93,08 €
price for Spain (gross)
  • ISBN 978-3-642-82201-8
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • Immediate eBook download after purchase and usable on all devices
  • Bulk discounts available
Softcover 114,39 €
price for Spain (gross)
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Bibliographic Information

Bibliographic Information
Book Title
Non-Adaptive and Adaptive Control of Manipulation Robots
Authors
Series Title
Scientific Fundamentals of Robotics
Series Volume
5
Copyright
1985
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag, Berlin, Heidelberg
eBook ISBN
978-3-642-82201-8
DOI
10.1007/978-3-642-82201-8
Softcover ISBN
978-3-642-82203-2
Series ISSN
0178-5362
Edition Number
1
Number of Pages
X, 384
Topics