Position and Force Control of Direct Drive Robot Arms
Author | : Mohammad Sahirad |
Publisher | : |
Total Pages | : 346 |
Release | : 1988 |
Genre | : |
ISBN | : |
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Author | : Mohammad Sahirad |
Publisher | : |
Total Pages | : 346 |
Release | : 1988 |
Genre | : |
ISBN | : |
Author | : Roland Rocafort Marquez |
Publisher | : |
Total Pages | : 226 |
Release | : 1990 |
Genre | : |
ISBN | : |
Author | : Bruno Siciliano |
Publisher | : Springer Science & Business Media |
Total Pages | : 154 |
Release | : 2012-12-06 |
Genre | : Technology & Engineering |
ISBN | : 1461544319 |
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 | : Chae H. An |
Publisher | : MIT Press (MA) |
Total Pages | : 233 |
Release | : 1988-01 |
Genre | : Computers |
ISBN | : 9780262011020 |
Model-Based Control of a Robot Manipulator presents the first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control. The authors' work on automatic identification of kinematic and dynamic parameters, feedforward position control, stability in force control, and trajectory learning has significant implications for improving performance in future robot systems. All of the main ideas discussed in this book have been validated by experiments on a direct-drive robot arm. The book addresses the issues of building accurate robot models and of applying them for high performance control. It first describes how three sets of models - the kinematic model of the links and the inertial models of the links and of rigid-body loads - can be obtained automatically using experimental data. These models are then incorporated into position control, single trajectory learning, and force control. The MIT Serial Link Direct Drive Arm, on which these models were developed and applied to control, is one of the few manipulators currently suitable for testing such concepts. Contents: Introduction. Direct Drive Arms. Kinematic Calibration. Estimation of Load Inertial Parameters. Estimation of Link Inertial Parameters. Feedforward and Computed Torque Control. Model-Based Robot Learning. Dynamic Stability Issues in Force Control. Kinematic Stability Issues in Force Control. Conclusion. Chae An is Research Staff Member, IBM T.J. Watson Research Center, Christopher Atkeson is an Assistant Professor and John Hollerbach is an Associate Professor in the MIT Department of Brain and Cognitive Sciences and the MIT Artificial Intelligence Laboratory. Model-Based Control of a Robot Manipulator is included in the Artificial Intelligence Series edited by Patrick Winston and Michael Brady.
Author | : Chae Hun An |
Publisher | : |
Total Pages | : 320 |
Release | : 1986 |
Genre | : Control theory |
ISBN | : |
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 | : R. Devanathan |
Publisher | : Elsevier |
Total Pages | : 435 |
Release | : 2014-05-23 |
Genre | : Technology & Engineering |
ISBN | : 1483298957 |
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 | : Haruhiko Asada |
Publisher | : MIT Press (MA) |
Total Pages | : 262 |
Release | : 1987-01 |
Genre | : Computers |
ISBN | : 9780262010887 |
This book describes the design concept and discusses the control issues related to the performance of a direct-drive robot, specifically, a direct-drive mechanical arm capable of carrying up to 10 kilograms, at 10 meters per second, accelerating at 5 G (a unit of acceleration equal to the acceleration of gravity). These are remarkable achievements compared to current industrial robots that move with speeds on the order of 1 meter per second.Direct-Drive Robot presents the most current research in manipulator design and control, emphasizing the high-performance direct-drive robot arm in which the shafts of articulated joints are directly coupled to the rotors of motors with high torque. It describes fundamental technologies of key components such as motors, amplifiers and sensors, arm linkage design, and control system design, and makes significant contributions in the areas of power efficiency analysis, dynamic mass balancing, and decoupling theory.The book provides a good balance between theory and practice, covering the practical design and implementation of this special robot as well as the theoretical design tools.Contents: Part I: Direct-Drive Technologies. Introduction. Components. Part II: Arm Design Theory. Power Efficiency. Arm Design for Simplified Dynamics. Actuator Relocation. Design of Decoupled Arm Structures. Part III: Development of the MIT Arm. Mechanisms. Control Systems. Part IV: Selected Papers on Direct-Drive Robot Design and Control.Haruhiko Asada is an Associate Professor, Kyoto University, and Lecturer at MIT He has built two prototypes of the direct-drive arm described here. Kamal Youcef-Toumi is an Assistant Professor, Department of Mechanical Engineering, System Dynamics and Controls Division at MIT. He has worked for three years with Asada on the development of the MIT high speed directdrive robot.
Author | : Dan Zhang |
Publisher | : CRC Press |
Total Pages | : 441 |
Release | : 2017-02-03 |
Genre | : Science |
ISBN | : 1498764886 |
The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Author | : Mark W Spong |
Publisher | : John Wiley & Sons |
Total Pages | : 356 |
Release | : 2008-08-04 |
Genre | : Robots |
ISBN | : 9788126517800 |
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 | : William J Scott |
Publisher | : World Scientific |
Total Pages | : 558 |
Release | : 1999-11-10 |
Genre | : Technology & Engineering |
ISBN | : 9814493899 |
Abrasive technology is becoming increasingly important in precision manufacturing. This volume contains more than 70 refereed technical papers contributed by worldwide academic researchers and industrial practitioners, on the latest development in abrasive technology. Specifically, it covers the mechanics and mechanisms of abrasive processes as well as the technologies and applications related to abrasive jet machining, nano-machining, grinding, polishing, horning and lapping. It also includes topics on high-speed machining, eco-machining and laser micro-machining technologies. The discussion on the practical applications of abrasive technology and the associated theories makes this book useful for academic researchers and industrial practitioners.