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Non-Adaptive and Adaptive Control of Manipulation Robots

  • Miomir Vukobratović
  • Dragan Stokić
  • Nenad Kirćanski

Part of the Communications and Control Engineering Series book series (CCE, volume 5)

Table of contents

  1. Front Matter
    Pages I-X
  2. Miomir Vukobratović, Dragan Stokić, Nenad Kirćanski
    Pages 1-35
  3. Miomir Vukobratović, Dragan Stokić, Nenad Kirćanski
    Pages 36-183
  4. Miomir Vukobratović, Dragan Stokić, Nenad Kirćanski
    Pages 184-195
  5. Miomir Vukobratović, Dragan Stokić, Nenad Kirćanski
    Pages 196-211
  6. Miomir Vukobratović, Dragan Stokić, Nenad Kirćanski
    Pages 212-265
  7. Miomir Vukobratović, Dragan Stokić, Nenad Kirćanski
    Pages 266-321
  8. Miomir Vukobratović, Dragan Stokić, Nenad Kirćanski
    Pages 322-380
  9. Back Matter
    Pages 381-383

About this book

Introduction

The material presented in this monograph is a logical continuation of research results achieved in the control of manipulation robots. This is in a way, a synthesis of many-year research efforts of the associates of Robotics Department, Mihailo Pupin Institute, in the field of dynamic control.of robotic systems. As in Vol. 2 of this Series, all results rely on the mathematical models of dynamics of active spatial mechanisms which offer the possibility for adequate dynamic control of manipula­ tion robots. Compared with Vol. 2, this monograph has three essential new character­ istics, and a variety of new tasks arising in the control of robots which have been formulated and solved for the first time. One of these novelties is nonadaptive control synthesized for the case of large variations in payload parameters, under the condition that the practical stability of the overall system is satisfied. Such a case of control synthesis meets the actual today's needs in industrial robot applications. The second characteristic of the monograph is the efficient adaptive control algorithm based on decentralized control structure intended for tasks in which parameter variations cannot be specified in advance. To be objective, this is not the case in industrial robotics today. Thus, nonadaptive control with and without a particular parameter variation is supplemented by adaptive dynamic control algorithms which will cer­ tainly be applicable in the future industrial practice when parametric identification of workpieces will be required.

Keywords

Robots adaptive control control robot robotics stability

Authors and affiliations

  • Miomir Vukobratović
    • 1
  • Dragan Stokić
    • 2
  • Nenad Kirćanski
    • 2
  1. 1.Serbian Academy of Sciences and ArtsYugoslavia
  2. 2.Institute »Mihailo Pupin«BelgradeYugoslavia

Bibliographic information

  • DOI https://doi.org/10.1007/978-3-642-82201-8
  • Copyright Information Springer-Verlag Berlin Heidelberg 1985
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Springer Book Archive
  • Print ISBN 978-3-642-82203-2
  • Online ISBN 978-3-642-82201-8
  • Series Print ISSN 0178-5354
  • Buy this book on publisher's site