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Control of Robot Manipulators in Joint Space
Kategorie	Beschreibung
036a	XA-GB
037b	eng
077a	120411067 Buchausg. u.d.T.: ‡Kelly, Rafael: Control of robot manipulators in joint space
087q	978-1-85233-994-4
100b	Kelly, Rafael
104b	Davila, Victor Santibáñez
108b	Loría, Antonio
331	Control of Robot Manipulators in Joint Space
410	London
412	Springer-Verlag London Limited
425	2005
425a	2005
433	Online-Ressource (XXVI, 426p. 110 illus, digital)
451b	Advanced Textbooks in Control and Signal Processing
501	Includes bibliographical references and index
527	Buchausg. u.d.T.: ‡Kelly, Rafael: Control of robot manipulators in joint space
540a	ISBN 978-1-85233-999-9
700	\|THR
700	\|TEC007000
700b	\|620
700b	\|629.8933
700b	\|621.3
700b	\|620
700c	\|TJ211.35
700g	1271636956 ZQ 6250
750	Preliminaries -- to Part I -- What Does “Control of Robots” Involve? -- Mathematical Preliminaries -- Robot Dynamics -- Properties of the Dynamic Model -- Case Study: The Pelican Prototype Robot -- Position Control -- to Part II -- Proportional Control plus Velocity Feedback and PD Control -- PD Control with Gravity Compensation -- PD Control with Desired Gravity Compensation -- PID Control -- Motion Control -- to Part III -- Computed-torque Control and Computed-torque+ Control -- PD+ Control and PD Control with Compensation -- Feedforward Control and PD Control plus Feedforward -- Advanced Topics -- to Part IV -- P“D” Control with Gravity Compensation and P“D” Control with Desired Gravity Compensation -- to Adaptive Robot Control -- PD Control with Adaptive Desired Gravity Compensation -- PD Control with Adaptive Compensation.
753	Robot control is the backbone of robotics, an essential discipline in the maintenance of high quality and productivity in modern industry. The most common method of control for industrial robotic manipulators relies on the measurement and amendment of joint displacement: so-called "joint-space control". Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the text’s four parts: • robot dynamics and mathematical preliminaries; • set-point model-based control; • tracking model-based control; and • adaptive and velocity-independent control a complete course in robot control based on joint space can be constructed for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used throughout to test the examined controllers by experimentation. In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual. All of this labour-saving supplementary material can be downloaded from springeronline.com.
902s	208968326 Industrieroboter
907s	208968326 Industrieroboter
907s	209023627 Manipulator
907s	20898853X Kinetik
907s	209122102 Steuerung
907s	209502541 Speicherprogrammierte Steuerung
907s	20900486X Lageregelung
907s	20905252X Bahnsteuerung
012	264342771
081	Control of Robot Manipulators in Joint Space
100	Springer E-Book
125a	Elektronischer Volltext - Campuslizenz
655e	$uhttp://dx.doi.org/10.1007/b135572