Admin
مدير المنتدى
عدد المساهمات : 18994
التقييم : 35488
تاريخ التسجيل : 01/07/2009
الدولة : مصر
العمل : مدير منتدى هندسة الإنتاج والتصميم الميكانيكى
 |  موضوع: كتاب Robot Manipulator Control Theory and Practice الأربعاء 09 نوفمبر 2011, 2:47 pm | |
| 
تذكير بمساهمة فاتح الموضوع :أخوانى فى الله
أحضرت لكم كتاب
Robot Manipulator Control Theory and Practice - Frank L.Lewis
ويتناول الموضوعات الأتية :
Commercial Robot Manipulators
Introduction
Flexible Robotic Workcells
Commercial Robot Configurations and Types
Manipulator Performance
Common Kinematic Configurations
Drive Types of Commercial Robots
Commercial Robot Controllers
Sensors
Types of Sensors
Sensor Data Processing
References
Introduction to Control Theory
Introduction
Linear State-Variable Systems
Continuous-Time Systems
Discrete-Time Systems
Nonlinear State-Variable Systems
Continuous-Time Systems
Discrete-Time Systems
Nonlinear Systems and Equilibrium Points
Vector Spaces, Norms, and Inner Products
by Marcel Dekker, Inc
xii CONTENTS
Linear Vector Spaces
Norms of Signals and Systems
Inner Products
Matrix Properties
Stability Theory
Lyapunov Stability Theorems
Functions Of Class K
Lyapunov Theorems
The Autonomous Case
Input/Output Stability
Advanced Stability Results
Passive Systems
Positive-Real Systems
Lure’s Problem
The MKY Lemma
Useful Theorems and Lemmas
Small-Gain Theorem
Total Stability Theorem
Linear Controller Design
Summary and Notes
References
Robot Dynamics
Introduction
Lagrange-Euler Dynamics
Force, Inertia, and Energy
Lagrange’s Equations of Motion
Derivation of Manipulator Dynamics
Structure and Properties of the Robot Equation
Properties of the Inertia Matrix
Properties of the Coriolis/Centripetal Term
Properties of the Gravity, Friction,
and Disturbance
Linearity in the Parameters
Passivity and Conservation of Energy
State-Variable Representations and Feedback Linearization
Hamiltonian Formulation
Position/Velocity Formulations
Feedback Linearization
Cartesian and Other Dynamics
Cartesian Arm Dynamics
by Marcel Dekker, Inc
CONTENTS xiii
Structure and Properties of the Cartesian
Dynamics
Actuator Dynamics
Dynamics of a Robot Arm with Actuators
Third-Order Arm-Plus-Actuator Dynamics
Dynamics with Joint Flexibility
Summary
References
Problems
Computed-Torque Control
Introduction
Path Generation
Converting Cartesian Trajectories to Joint Space
Polynomial Path Interpolation
Linear Function with Parabolic Blends
Minimum-Time Trajectories
Computer Simulation of Robotic Systems
Simulation of Robot Dynamics
Simulation of Digital Robot Controllers
Computed-Torque Control
Derivation of Inner Feedforward Loop
PD Outer-Loop Design
PID Outer-Loop Design
Class of Computed-Torque-Like Controllers
PD-Plus-Gravity Controller
Classical Joint Control
Digital Robot Control
Guaranteed Performance on Sampling
Discretization of Inner Nonlinear Loop
Joint Velocity Estimates from Position
Measurements
Discretization of Outer PD/PID Control Loop
Actuator Saturation and Integrator Antiwindup
Compensation
Optimal Outer-Loop Design
Linear Quadratic Optimal Control
Linear Quadratic Computed-Torque Design
Cartesian Control
Cartesian Computed-Torque Control
Cartesian Error Computation
Summary
by Marcel Dekker, Inc
xiv CONTENTS
References
Problems
Robust Control of Robotic Manipulators
Introduction
Feedback-Linearization Controllers
Lyapunov Designs
Input-Output Designs
Nonlinear Controllers
Direct Passive Controllers
Variable-Structure Controllers
Saturation-Type Controllers
Dynamics Redesign
Decoupled Designs
Imaginary Robot Concept
Summary
References
Problems
Adaptive Control of Robotic Manipulators
Introduction
Adaptive Control by a Computed-Torque Approach
Approximate Computed-Torque Controller
Adaptive Computed-Torque Controller
Adaptive Control by an Inertia-Related Approach
Examination of a PD Plus Gravity Controller
Adaptive Inertia-Related Controller
Adaptive Controllers Based on Passivity
Passive Adaptive Controller
General Adaptive Update Rule
Persistency of Excitation
Composite Adaptive Controller
Torque Filtering
Least-Squares Estimation
Composite Adaptive Controller
Robustness of Adaptive Controllers
Torque-Based Disturbance Rejection Method
Estimator-Based Disturbance Rejection Method
Summary
References
Problems
by Marcel Dekker, Inc
CONTENTS xv
Advanced Control Techniques
Introduction
Robot Controllers with Reduced On-Line Computation
Desired Compensation Adaptation Law
Repetitive Control Law
Adaptive Robust Control
Compensation for Actuator Dynamics
Electrical Dynamics
Joint Flexibilities
Summary
References
Problems
Neural Network Control of Robots
Introduction
Background in Neural Networks
Multilayer Neural Networks
Linear-in-the-parameter neural nets
Tracking Control Using Static Neural Networks
Robot Arm Dynamics and Error System
Adaptive Control
Neural Net Feedback Tracking Controller
Tuning Algorithms for Linear-in-the-Parameters NN
Tuning Algorithms for Nonlinear-in-the-Parameters NN
Passivity Properties of NN Controllers
Passivity of the Robot Tracking Error Dynamics
Passivity Properties of -layer NN Controllers
Passivity Properties of -Layer NN Controllers
Summary
References
Force Control
Introduction
Stiffness Control
Stiffness Control of a Single-Degree-of-Freedom
Manipulator
The Jacobian Matrix and Environmental Forces
Stiffness Control of an N-Link Manipulator
Hybrid Position/Force Control
Hybrid Position/Force Control of a Cartesian
Two-Link Arm
by Marcel Dekker, Inc
xvi CONTENTS
Hybrid Position/Force Control of an N-Link
Manipulator
Implementation Issues
Hybrid Impedance Control
Modeling the Environment
Position and Force Control Models
Impedance Control Formulation
Implementation Issues
Reduced State Position/Force Control
Effects of Holonomic Constraints on the
Manipulator Dynamics
Reduced State Modeling and Control
Implementation Issues
Summary
References
Problems
Robot Control Implementation and Software
Introduction
Tools and Technologies
Design of the Robotic Platform
Overview
Core Classes
Robot Control Classes
External Device Classes
Utility Classes
Configuration Management
Object Manager
Concurrency/Communication Model
Plotting and Control Tuning Capabilities
Math Library
Error Management and the Front-End GUI
Operation of the Robotic Platform
Scene Viewer and Control Panels
Utility Programs for Moving the Robot
Writing, Compiling, Linking, and Starting
Control Programs
Programming Examples
Comparison of Simulation and Implementation
Virtual Walls
Summary
References
by Marcel Dekker, Inc
CONTENTS xvii
A Review of Robot Kinematics and Jacobians
A Basic Manipulator Geometries
A Robot Kinematics
A The Manipulator Jacobian
References
B Software for Controller Simulation
References
C Dynamics of Some Common Robot Arms
C SCARA ARM
C Stanford Manipulator
C PUMA Manipulator
References
أتمنى أن تستفيدوا منه وأن ينال إعجابكم
رابط تنزيل كتاب Robot Manipulator Control Theory and Practice - Frank L.Lewis
عدل سابقا من قبل أحمد دعبس في الأربعاء 03 أبريل 2013, 6:03 pm عدل 1 مرات |
|
