Titlebook: Local Stability and Ultimate Boundedness in the Control of Robot Manipulators; Marco A. Arteaga,Alejandro Gutiérrez-Giles,Javier Book 202

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充满装饰

Lecture Notes in Electrical Engineeringhttp://image.papertrans.cn/l/image/587713.jpg

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硬化

The , Haptic DeviceThe robots A465 and A255 by . are industrial manipulators able to carry out a wide variety of tasks. However, for haptic purposes their inertias can be too high, for which it is desirable to have available low inertia manipulators. This is the case of he . haptic device. This chapter develops its kinematic and dynamic models.

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Position, Orientation and Velocity of Rigid Robot Manipulatorstion and position of the end-effector as a function of joint coordinates. Also in a systematic fashion it is possible to compute the linear and angular velocities of the end-effector as a function of both joints positions and velocities.

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Force Controlironment or high friction effects. This chapter is meant to deal with the force tracking control when the contact surface is assumed to be rigid and frictionless so that the force and velocity components of the end-effector can be split into two tangent planes.

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A General Overview of Robot Manipulatorse desired jobs, and these depend on a combination of physical mechanical characteristics as well as on the design of appropriate control schemes. Due to the high nonlinear nature of robot manipulators, control design represents on its own quite a challenge.

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Common Control Approaches for Robot Manipulatorsgoal can even be trivial despite the high nonlinear dynamics of robot manipulators. However, when it comes to implementation many practical issues arise that make the problem much more involved than it appears to be at the beginning. This chapter recapitulates the most basic control techniques for robot manipulators.