Control of Robot Manipulators in Joint Space (Advanced by Rafael Kelly, Victor Santibáñez Davila, Julio Antonio Loría

By Rafael Kelly, Victor Santibáñez Davila, Julio Antonio Loría Perez

Robotic keep an eye on is the spine of robotics, an important self-discipline within the upkeep of top quality and productiveness in sleek undefined. the commonest approach to regulate for business robot manipulators depends on the dimension and modification of joint displacement: so-called "joint-space control".

"Control of robotic Manipulators in Joint Space" addresses robotic keep watch over extensive, treating various model-based controllers intimately: proportional by-product; proportional essential by-product; computed torque and a few adaptive versions. utilizing various mixtures of the text’s 4 parts:

* robotic dynamics and mathematical preliminaries;
* set-point model-based keep an eye on;
* monitoring model-based keep watch over; and
* adaptive and velocity-independent regulate

A entire direction in robotic keep an eye on according to joint house could be developed for senior undergraduates or masters scholars. different components of research vital to robotics, similar to kinematics, obtain realization in the case reports that are established round a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used all through to check the tested controllers through experimentation.

In addition to the written textual content, auxiliary assets come in the shape of pdf projector displays for the trainer to exploit in lectures and as revealed classification aids for college kids, and a pdf strategies handbook. All of this labour-saving supplementary fabric should be downloaded from the Springer website.

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