Control of Robot Manipulators in Joint Space

ISBN: 978-1-85233-994-4 (Print) 978-1-85233-999-9 (Online)

Table of contents (20 chapters)

  1. Preliminaries

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      Book Chapter

      Pages 3-5

      Introduction to Part I

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      Book Chapter

      Pages 7-17

      What Does “Control of Robots” Involve?

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      Book Chapter

      Pages 19-57

      Mathematical Preliminaries

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      Book Chapter

      Pages 59-93

      Robot Dynamics

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      Book Chapter

      Pages 95-111

      Properties of the Dynamic Model

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      Book Chapter

      Pages 113-132

      Case Study: The Pelican Prototype Robot

  2. Position Control

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      Book Chapter

      Pages 135-140

      Introduction to Part II

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      Book Chapter

      Pages 141-156

      Proportional Control plus Velocity Feedback and PD Control

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      Book Chapter

      Pages 157-169

      PD Control with Gravity Compensation

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      Book Chapter

      Pages 171-199

      PD Control with Desired Gravity Compensation

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      Book Chapter

      Pages 201-220

      PID Control

  3. Motion Control

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      Book Chapter

      Pages 223-226

      Introduction to Part III

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      Book Chapter

      Pages 227-241

      Computed-torque Control and Computed-torque+ Control

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      Book Chapter

      Pages 243-261

      PD+ Control and PD Control with Compensation

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      Book Chapter

      Pages 263-285

      Feedforward Control and PD Control plus Feedforward

  4. Advanced Topics

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      Book Chapter

      Pages 289-289

      Introduction to Part IV

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      Book Chapter

      Pages 291-311

      P“D” Control with Gravity Compensation and P“D” Control with Desired Gravity Compensation

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      Book Chapter

      Pages 313-335

      Introduction to Adaptive Robot Control

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      Book Chapter

      Pages 337-359

      PD Control with Adaptive Desired Gravity Compensation

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      Book Chapter

      Pages 361-380

      PD Control with Adaptive Compensation