Adaptive Force and Impact Control for Robot Manipulators Involving Friction Dynamics PDF Download

Author: Nghe Huan Quach
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 336

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Book Description

Author: Shiping Liu
Publisher: John Wiley & Sons
ISBN: 1119422485
Category : Technology & Engineering
Languages : en
Pages : 266

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Book Description
A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.

Author: Yung-Sheng Chang
Publisher:
ISBN:
Category :
Languages : en
Pages : 63

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Book Description
The goal of this study is to design a controller to reject the disturbances caused by sensor noise and unmodeled effects during hybrid adaptive force and motion control of robot manipulators in constrained motion. A continuous robust integral of the sign of the error (RISE) feedback term is incorporated with adaptive force and motion control to yield asymptotic tracking results in the presence of disturbances and unknown system parameters and dry contact surface friction coefficient. The main reason to use the RISE method is that it can enhance disturbance rejection capabilities. It is assumed that the system parameters of the robot manipulator and the dry friction coefficient of contact surface are unknown. These unknown parameters can be updated by the adaptive update law. The suggested controller can guarantee semi-global asymptotic motion and force tracking results which are supported through Lyapunov-based stability analysis under the condition that the position and velocity of end-effector and the normal contact force between end-effector and contact surface are measurable. The contact surface of the environment is modeled by the set of m rigid and mutually independent hypersurfaces. The dynamic model of constrained robot manipulators is developed through an Euler-Lagrange formulation. Two degree of freedom (DOF) robot manipulator simulation results are given to illustrate the efficacy of the suggested controller.

Author: Dan Zhang
Publisher: CRC Press
ISBN: 1498764886
Category : Science
Languages : en
Pages : 441

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Book Description
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: John J. Craig
Publisher: Addison Wesley Publishing Company
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 152

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Author: Pierre Tanos Nehmetallah
Publisher:
ISBN:
Category :
Languages : en
Pages : 326

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Book Description
This thesis presents a scheme in modeling, analysis and control of robotic manipulators. The objective is to control both the end effector position and contact force, against a well pre-defined surface, despite of robot dynamic parameter uncertainty. A Lyapunov based adaptive force controller is introduced for this purpose that controls the robot in the joint space. The controller is presented in three steps. In the first step the force error was shown to be proportional to the residual force. In the Second step a composite adaptive controller is used with the focus on the convergence of the residual force. In the third step, a parameter recovery scheme was developed. This scheme is based on the generated control signal and the feedback obtained by the position, velocity, and force sensors. It allows control of the robot in the world coordinate space instead of joint space by using the recovered parameters in the inverse kinematics equations to generate the desired task trajectory in joint space.--The results demonstrated the efficiency of using adaptive force control, as robot parameters in practical applications are not exactly known, or may change with tasks.

Author: An-Chyau Huang
Publisher: World Scientific
ISBN: 9814307416
Category : Technology & Engineering
Languages : en
Pages : 274

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Book Description
This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.

Author: Doyoung Jeon
Publisher:
ISBN:
Category :
Languages : en
Pages : 318

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Book Description

Author: Bruno Siciliano
Publisher: Springer Science & Business Media
ISBN: 1461544319
Category : Technology & Engineering
Languages : en
Pages : 154

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Book Description
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: J Skowronski
Publisher: Elsevier
ISBN: 0323158110
Category : Technology & Engineering
Languages : en
Pages : 279

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Book Description
Control Dynamics of Robotic Manipulators deals with both theory and mechanics of control and systems dynamics used in robotic movements. The book discusses mechanical models of robot manipulators in relation to modular RP-unit manipulators, multiple mechanical system (Cartesian Model), or generalized coordinates (Lagrangian Model). The text also describes equations used to determine the force characteristics, energy, and power required in manipulators. For example, damping forces dissipate energy caused by dry friction or viscous damping at mechanical joints due to slips and sheer effects on surfaces. Other examples are oil, water, and air resistance in the environment of the manipulator, as well as damping in links caused by microscopic interface effects. Demands for high-speed and high-accuracy in manipulators require sturdiness in control against variations in the system parameter. The book cites a situation where the manipulator works in a "hot cell" and must be controlled remotely. The text also tackles the avoidance of obstacles by nonvisual means by referring to the works of Lozano, Perez and Wesley, and of Reibert and Horn. The text is useful for students of civil, structural, and mechanical engineering. It will also profit technicians of automatic, telecontrol, and designers of industrial machinery.