Design Of Force Position Controller For A Direct Drive Robot Arm
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Author | : Roland Rocafort Marquez |
Publisher | : |
Total Pages | : 226 |
Release | : 1990 |
Genre | : |
ISBN | : |
Download Design of Force/position Controller for a Direct-drive Robot Arm Book in PDF, Epub and Kindle
Author | : Mohammad Sahirad |
Publisher | : |
Total Pages | : 346 |
Release | : 1988 |
Genre | : |
ISBN | : |
Download Position and Force Control of Direct Drive Robot Arms Book in PDF, Epub and Kindle
Author | : Bruno Siciliano |
Publisher | : Springer Science & Business Media |
Total Pages | : 154 |
Release | : 2012-12-06 |
Genre | : Technology & Engineering |
ISBN | : 1461544319 |
Download Robot Force Control Book in PDF, Epub and Kindle
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.
Author | : R. Devanathan |
Publisher | : Elsevier |
Total Pages | : 435 |
Release | : 2014-05-23 |
Genre | : Technology & Engineering |
ISBN | : 1483298957 |
Download Intelligent Tuning and Adaptive Control Book in PDF, Epub and Kindle
This volume contains 67 papers reporting on the state-of-the-art research in the fields of adaptive control and intelligent tuning. Papers include applications in robotics, the processing industries and machine control.
Author | : Mark W Spong |
Publisher | : John Wiley & Sons |
Total Pages | : 356 |
Release | : 2008-08-04 |
Genre | : Robots |
ISBN | : 9788126517800 |
Download Robot Dynamics And Control Book in PDF, Epub and Kindle
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.
Author | : Chae Hun An |
Publisher | : |
Total Pages | : 320 |
Release | : 1986 |
Genre | : Control theory |
ISBN | : |
Download Trajectory and Force Control of a Direct Drive Arm Book in PDF, Epub and Kindle
Using the MIT Serial Link Direct Drive Arm as the main experimental device, various issues in trajectory and force control of manipulators were studied in this thesis. Since accurate modelling is important for any controller, issues of estimating the dynamic model of a manipulator and its load were addressed first. Practical and effective algorithms were developed from the Newton-Euler equations to estimate the inertial parameters of manipulator rigid-body loads and links. Load estimation was implemented both on a PUMA 600 robot and on the MIT Serial Link Direct Drive Arm. With the link estimation algorithm, the inertial parameters of the direct drive arm were obtained. For both load and link estimation results, the estimated parameters are good models of the actual system for control purposes since torques and forces can be predicted accurately from these estimated parameters. The estimated model of the direct drive arm was then used to evaluate trajectory following performance by feedforward and computed torque control algorithms. The experimental evaluations showed that the dynamic compensation can greatly improve trajectory following accuracy.
Author | : J. O. Gray |
Publisher | : IET |
Total Pages | : 408 |
Release | : 1996 |
Genre | : Computers |
ISBN | : 9780852968536 |
Download Advanced Robotics & Intelligent Machines Book in PDF, Epub and Kindle
Advanced robotics describes the use of sensor-based robotic devices which exploit powerful computers to achieve the high levels of functionality that begin to mimic intelligent human behaviour. The object of this book is to summarise developments in the base technologies, survey recent applications and highlight new advanced concepts which will influence future progress.
Author | : |
Publisher | : |
Total Pages | : 892 |
Release | : 1994 |
Genre | : Aeronautics |
ISBN | : |
Download Scientific and Technical Aerospace Reports Book in PDF, Epub and Kindle
Author | : Haruhiko Asada |
Publisher | : |
Total Pages | : 22 |
Release | : 1981 |
Genre | : Robots |
ISBN | : |
Download Design of Direct-Drive Mechanical Arms Book in PDF, Epub and Kindle
This paper describes the design concept of a new robot based on the direct-drive method using rare-earth DC torque motors. Because these motors have high torque, light weight and compact size, we can construct robots with far better performance than those presently available. For example, we can eliminate all the transmission mechanism between the motors and their loads, such as reducers and chain belts, and construct a simple mechanism (direct-drive) where the arm links are directly coupled to the motor rotors. This elimination can lead to excellent performance: no backlash, low friction, low inertia, low compliance and high reliability, all of which are suited for high-speed high-precision robots. First we propose a basic configuration of direct-drive robots. Second a general procedure for designing direct-drive robots is shown, and the feasibility of direct drive for robot actuation is discussed in terms of weights and torques of joints. One of the difficulties in designing direct-drive robots is that motors to drive wrist joints are loads for motors to drive elbow joints and they are loads for motors at shoulders. To reduce this increasing series of loads is an essential issue for designing practical robots. We analyze the series of joint mass for a simplified kinematic model of the direct-drive robots, and show how the loads are reduced significantly by using rare-earth motors with light weight and high torque. We also discuss optimum kinematic structures with minimum arm weight. Finally, we describe the direct-drive robotic manipulator (CMU arm) developed at Carnegie-Mellon University, and verify the design theory. (Author).
Author | : Claude Vibet |
Publisher | : |
Total Pages | : 46 |
Release | : 1986 |
Genre | : |
ISBN | : 9782905331205 |
Download Design of Position Speed Acceleration and Force Controllers for Robot Arms Book in PDF, Epub and Kindle