Non-Adaptive and Adaptive Control of Manipulation Robots: Communications and Control Engineering, cartea 5
Autor M. Vukobratovic, D. Stokic, N. Kircanskien Limba Engleză Paperback – 22 dec 2011
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Specificații
ISBN-13: 9783642822032
ISBN-10: 3642822037
Pagini: 396
Ilustrații: X, 384 p.
Dimensiuni: 170 x 244 x 21 mm
Greutate: 0.63 kg
Ediția:Softcover reprint of the original 1st ed. 1985
Editura: Springer Berlin, Heidelberg
Colecția Springer
Seriile Communications and Control Engineering, Scientific Fundamentals of Robotics
Locul publicării:Berlin, Heidelberg, Germany
ISBN-10: 3642822037
Pagini: 396
Ilustrații: X, 384 p.
Dimensiuni: 170 x 244 x 21 mm
Greutate: 0.63 kg
Ediția:Softcover reprint of the original 1st ed. 1985
Editura: Springer Berlin, Heidelberg
Colecția Springer
Seriile Communications and Control Engineering, Scientific Fundamentals of Robotics
Locul publicării:Berlin, Heidelberg, Germany
Public țintă
ResearchCuprins
1 Computer-Assisted Generation of Robot Dynamic Models in Analytical Form.- 1.1. Introduction.- 1.2. A closed form dynamic model of a robotic manipulator.- 1.3. Analytical representation of the variables of dynamic model.- 1.4. Construction of real-time program code.- 1.5. Example.- References.- 2 Non-Adaptive Control of Manipulation Robots with Variable Parameters.- 2.1. Introduction.- 2.2. Mathematical model of manipulation robots and control task definition.- 2.3. Survey of non-adaptive control algorithms.- 2.4. Synthesis of local controllers.- 2.5. Stability analysis of manipulation robots.- 2.6. Global control synthesis.- 2.7. Example.- Conclusion.- References.- Appendix 2A Analysis of the Influence of Actuator Models Complexity on Manipulator Control synthesis.- Appendix 2B Practical Stability of Manipulation Robots.- 3 Adaptive Control Algorithms.- 3.1. Introduction.- 3.2. Centralized adaptive control of robot manipulators.- 3.3. Decentralized adaptive control strategy for mechanical manipulators.- References.- 4 Computer-Aided Control Synthesis.- 4.1. Introduction.- 4.2. Software package for computer aided synthesis.- 4.3. Example.- Conclusion.- References.- 5 Implementation of Control Algorithms.- 5.1. Introduction.- 5.2. Concept of general purpose controller.- 5.3. Numerical complexity of control laws.- 5.4. Parameter identification.- 5.5. Microprocessor implementation of non-adaptive control laws.- References.