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 |  موضوع: كتاب Control of Robot Manipulators in Joint Space الأربعاء 09 نوفمبر 2011, 2:49 pm | |
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أخوانى فى الله
أحضرت لكم كتاب
Control of Robot Manipulators in Joint Space
R. Kelly, V. Santibanez and A. Loria
وبتناول الموضوعات الأتية :
I Robot manipulator
Freely moving robot
Robot interacting with its environment
Robotic system: fixed camera
Robotic system: camera in hand 0
Input–output representation of a robot 0
Point-to-point motion specification
Trajectory motion specification
Concept of equilibrium
Pendulum0
Notion of stability
Phase plane of the harmonic oscillator
Asymptotic stability
Attractive but unstable equilibrium
Phase plane of the van der Pol oscillator 0
Examples
Phase plane of the pendulum
Abstract diagram of an n-DOF robot manipulator
Example of a -DOF robot 0
Example of a -DOF mechanism
Example of a -DOF robot
Example of a -DOF Cartesian robot0
xxiv List of Figures
Input–output representation of a robot
Diagram of a robot with elastic joints
Link with an elastic joint
Example of a -DOF robot
0 Example of a -DOF robot
Diagram of a DC motor
Block-diagram of a robot with its actuators
Pendular device with a DC motor
Problem
Problems and
Problem
Problem
Graph of tangent hyperbolic: tanh(x)0
Belonging region for g(qd) − g(qd
−˜q ) 0
Graph of the function s(˜q) 0
Problem 0
Pelican: experimental robot arm at CICESE, Robotics lab
Diagram of the -DOF Pelican prototype robot
Two solutions to the inverse kinematics problem
“Bent-over” singular configuration
Desired reference trajectories
Norm of the desired positions 0
Norm of the desired velocities vector 0
Norm of the desired accelerations vector
II Position control: closed-loop system
II Set-point control closed-loop system Input–output
representation
Block-diagram: Proportional control plus velocity feedback
Block-diagram: PD control
Graph of ˜q(t)
Graph of q˙(t)
Graph of the position errors ˜ q and ˜ q
Block-diagram: PD control with gravity compensation
List of Figures xxv
Diagram of the Pelican robot
Graph of the position errors ˜ q and ˜ q
Graph of the tangent hyperbolic function: tanh(x)
Block-diagram: PD control with desired gravity compensation
PD control with desired gravity compensation: graph of the
position error ˜q(t)
PD control with desired gravity compensation: graph of
velocity, q˙(t)
Graph of the position errors ˜ q and ˜ q
Bifurcation diagram
Simulation with kp = −,−,
Catastrophic jump
Catastrophic jump0
Block-diagram: PID control 0
Desired joint positions 0
Diagram of the Pelican prototype robot
Graphs of position errors ˜q and ˜q
Graphs of position errors ˜ q and ˜ q
III Motion control: closed-loop system
III Motion control closed-loop system in its input–output
representation
0 Block-diagram: computed-torque control
0 Graph of position errors against time
0 Computed-torque+ control
0 Graph of position errors against time
0 Problem Cartesian -DOF robot
Block-diagram: PD control with compensation
Diagram of the Pelican robot
Graph of position errors against time
Block-diagram: PD+ control
Graph of the position errors against time
Block-diagram: feedforward control
Diagram of the Pelican prototype
xxvi List of Figures
Graphs of position errors ˜q and ˜q
Block-diagram: PD control plus feedforward 0
Graphs of position errors ˜q and ˜q
Block-diagram: P“D” control with gravity compensation
Graphs of position errors ˜ q(t) and ˜ q(t)
Block-diagram: P“D” control with desired gravity compensation 00
Graphs of position errors ˜ q(t) and ˜ q(t) 0
Planar -DOF manipulator on a horizontal plane
Block-diagram: generic adaptive control of robots
Problem Cartesian robot
Graphs of position errors ˜q and ˜q
Graphs of adaptive parameters ˆθ and ˆθ
Graphs of position errors ˜q and ˜q
Graphs of adaptive parameters ˆθ and ˆθ
Block-diagram: pendulum under PD control with adaptive
compensation 0
Planar -DOF manipulator
Diagram of the Pelican robot
Graphs of position errors ˜q and ˜q
Graphs of adaptive parameters ˆθ, ˆθ, and ˆθ
Problem Cartesian -DOF robot 0
A Example A: graph of α 0
A Problem
D DC motor
D DC motor with cylindrical inertia
D Pendular device
D Nonlinear friction
أتمنى أن تستفيدوا منه وأن ينال إعجابكم
 
عدل سابقا من قبل أحمد دعبس في الإثنين 29 أكتوبر 2012, 12:57 am عدل 2 مرات |
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ابراهيم حسن
مهندس تحت الاختبار
عدد المساهمات : 11
التقييم : 11
تاريخ التسجيل : 28/01/2012
العمر : 34
الدولة : مصر
العمل : طالبال
الجامعة : المنصورة
| | موضوع: رد: كتاب Control of Robot Manipulators in Joint Space الإثنين 30 يناير 2012, 8:01 pm | |
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Admin
مدير المنتدى
عدد المساهمات : 18042
التقييم : 32920
تاريخ التسجيل : 01/07/2009
الدولة : مصر
العمل : مدير منتدى هندسة الإنتاج والتصميم الميكانيكى
| | موضوع: رد: كتاب Control of Robot Manipulators in Joint Space الإثنين 30 يناير 2012, 9:32 pm | |
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- ابراهيم حسن كتب:
- شكا جزيلا يا بشمهندس
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eng_lola
مهندس تحت الاختبار
عدد المساهمات : 11
التقييم : 13
تاريخ التسجيل : 14/06/2012
العمر : 31
الدولة : مصر
العمل : سيدة اعمال +رئيسة الوزراء...فيما بعد
الجامعة : كلية الهندسة
| | موضوع: رد: كتاب Control of Robot Manipulators in Joint Space الإثنين 29 أكتوبر 2012, 12:50 am | |
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Admin
مدير المنتدى
عدد المساهمات : 18042
التقييم : 32920
تاريخ التسجيل : 01/07/2009
الدولة : مصر
العمل : مدير منتدى هندسة الإنتاج والتصميم الميكانيكى
| | موضوع: رد: كتاب Control of Robot Manipulators in Joint Space الإثنين 29 أكتوبر 2012, 12:58 am | |
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- eng_lola كتب:
- الرابط لا يعمل
تم تعديل الرابط |
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