By D. Sc, Ph. D. Miomir Vukobratović, Ph. D. Dragan Stokić, Ph. D. Nenad Kirćanski (auth.)
The fabric provided during this monograph is a logical continuation of analysis effects accomplished within the regulate of manipulation robots. this is often in a manner, a synthesis of many-year learn efforts of the affiliates of Robotics division, Mihailo Pupin Institute, within the box of dynamic control.of robot structures. As in Vol. 2 of this sequence, all effects depend on the mathematical types of dynamics of lively spatial mechanisms which provide the prospect for enough dynamic keep watch over of manipula tion robots. in comparison with Vol. 2, this monograph has 3 crucial new personality istics, and quite a few new projects coming up within the keep an eye on of robots which were formulated and solved for the 1st time. this sort of novelties is nonadaptive regulate synthesized for the case of huge diversifications in payload parameters, below the that the sensible balance of the final approach is chuffed. one of these case of regulate synthesis meets the particular ultra-modern wishes in business robotic purposes. the second one attribute of the monograph is the effective adaptive regulate set of rules according to decentralized keep an eye on constitution meant for initiatives during which parameter diversifications can't be laid out in enhance. To be goal, this isn't the case in business robotics this day. therefore, nonadaptive regulate with and with out a specific parameter version is supplemented by means of adaptive dynamic keep an eye on algorithms for you to cer tainly be appropriate sooner or later commercial perform whilst parametric identity of workpieces may be required.
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Extra info for Non-Adaptive and Adaptive Control of Manipulation Robots
Of the mechanism. near function of Mi and qi' As ex- plained above, when the rotational Joint of the mechanism is driven by the linear actuator the relation between the load acting upon the actuator Mi and the torque developed in mechanism joint Pi might be given by cosines formula or some other relation which depends on the joint position. C. 6) might be complex if some special clutches are implemented. 7) where z i : Rl-+Rl is some nonlinear function of qi' The schematic presentation of the robotic manipulator model is given in Fig.
Is commonly the case. If we choose ni =2, it is sufficient to define regions Q tt), QV ttl '. If ni>3, additional restrictions upon the subsystems state coordinates have to be imposed. 48 allowable deviations of external coordinates about nominal trajectory due to tolerances in tracking the given trajectory; this region is also constrained by the presence of different obstacles in the work space and by various constraints upon the manipulator kinematics. ,. 2). By these restrictions, the region Xt(t) around xO(t) is defined to which the system state must belong during the tracking of xO(t).
The operation of expert program will be illustrated in the next section using the example of STANFORD manipulator of (Fig. 4). I I n-:::;;-::-~::::-o::-Tl I ROBOT PAP~METERS 1 I OPTIMIZATION OF CALCULATION J I J I I I L_J~::~R~~~_~ PROGRAM-CODE FOR ON-LINE OPERATION Fig. 3. 5 Example Al though the results presented in this book refer to a general n-joint manipulator, manipulator shown in Fig. 4. will be used as a reference in illustrating the developed algorithms. This manipulator (Stanford arm) has 6 joints and links in addition to the gripper.
Non-Adaptive and Adaptive Control of Manipulation Robots by D. Sc, Ph. D. Miomir Vukobratović, Ph. D. Dragan Stokić, Ph. D. Nenad Kirćanski (auth.)