دانلود کتاب Local Stability and Ultimate Boundedness in the Control of Robot Manipulators

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Preface Contents Part I Preliminaries 1 A General Overview of Robot Manipulators 1.1 Brief History of Robot Manipulators 1.2 Industrial Robots 1.3 Common Kinematic Arrangements 1.3.1 Articulated Manipulator 1.3.2 Spherical Manipulator 1.3.3 SCARA Manipulator 1.3.4 Cylindrical Manipulator 1.3.5 Cartesian Manipulator 1.4 Wrists and End-Effectors 1.4.1 Spherical Wrist 1.4.2 Common End-Effectors 1.5 Some Other Important Issues to Take into Account References 2 Position, Orientation and Velocity of Rigid Robot Manipulators 2.1 Rigid Motions and Homogeneous Transformations 2.1.1 Rotations 2.1.2 Composition of Rotations 2.1.3 Different Parametrizations for Rotation Matrices 2.1.4 Unit Quaternion 2.1.5 Homogeneous Transformations 2.1.6 Skew Symmetric Matrices 2.1.7 Angular Velocity and Acceleration 2.2 Direct Kinematics 2.2.1 Kinematic Chains 2.2.2 The Denavit-Hartenberg Representation 2.3 Inverse Kinematics 2.3.1 Introduction 2.3.2 Kinematic Decoupling 2.3.3 Inverse Position 2.4 Differential Kinematics 2.4.1 Analytic Jacobian 2.4.2 Geometric Jacobian 2.4.3 Singularities References 3 Dynamics of Rigid Robot Manipulators 3.1 Dynamic Modeling of Rigid Robot Manipulators 3.1.1 Euler-Lagrange Equations of Motion 3.1.2 Kinetic Energy 3.1.3 Potencial Energy 3.2 Equations of Motion of a Robot Manipulator 3.2.1 Generalized Model 3.3 Inclusion of Environmental Forces 3.4 Model Properties 3.4.1 Vectors and Matrices Properties 3.4.2 Norm Related Properties 3.4.3 Whole Model Related Properties 3.4.4 Holonomic Constraints Properties 3.5 Inclusion of DC Motors in the Robot Dynamic Model References 4 Mathematical Background 4.1 Basic Definitions and Lemmas 4.2 Stability in the Sense of Lyapunov 4.2.1 Definition 4.2.2 Main Stability Theorem 4.2.3 Complementary Results 4.3 Ultimate Boundedness 4.3.1 Definition 4.3.2 An Ultimate Boundedness Theorem 4.4 Sliding Surfaces References 5 Common Control Approaches for Robot Manipulators 5.1 PD and PD+ Control 5.2 PID Control of Robot Manipulators 5.3 Computed Torque Control 5.4 Exploiting the Passive Structure of Robot Manipulators 5.5 Design in Work Space Coordinates References Part II Looking for Semiglobal Stability or Ultimate Boundedness 6 Velocity Observer Design 6.1 The Nicosia and Tomei Observer 6.2 Non Model Based Observer Design 6.3 Non Model Based Observer and Control Design 6.4 Experimental Results References 7 Adaptive and Robust Control 7.1 The Adaptive Law by Slotine and Li 7.2 Adaptive Scheme with Velocity Observers 7.3 Robust Control 7.4 Control-Observer Robust Scheme 7.5 Generalized Proportional Integral (GPI) Observer 7.6 GPI Observer Without Inertia Matrix 7.7 Experimental Results 7.7.1 Performance Comparison References 8 Force Control 8.1 Robot Force Control Without Dynamic Model 8.2 Velocity and Force Observers for the Control of Robot Manipulators 8.3 GPI Based Velocity/Force Observer Design for Robot Manipulators 8.4 Experimental Results References 9 Bilateral Teleoperation 9.1 Fundamental Concepts of Bilateral Manipulators Systems 9.2 Control and Observer Design 9.3 Experimental Results References 10 Robot Networks 10.1 Basic Characteristic of Robot Networks 10.2 Leaderless Consensus Problem (LCP) 10.3 Experimental Results 10.3.1 Leader-Follower Consensus Problem References Part III Different Testbeds and the Adaptation of Industrial Robots for Practical Implementation 11 The Robot CRS 465 11.1 Characteristics of the Robot CRS A465 11.2 Kinematics of the Robot A465 11.3 Dynamics of the Robot A465 12 The Robot CRS 255 12.1 Characteristics of the Robot CRS A255 12.2 Kinematics of the Robot A255 12.3 Dynamics of the Robot A255 13 Adapting the Robots CRS 465 and 255 for Original Control Laws Implementation 13.1 Original System 13.2 Hardware Modification 13.2.1 Signal Routing 13.2.2 Digital Stage for the A465 Manipulator 13.2.3 Digital Stage for the A255 Manipulator 13.2.4 Analog Stage 13.2.5 Power Stage and Electric Protections 13.3 Software Implementation Reference 14 The Geomagic Touch Haptic Device 14.1 Characteristics of the Geomagic Touch Manipulator 14.1.1 Kinematics of the Full Five DoF Robot 14.1.2 Direct Kinematics of the Full Five DoF Robot 14.1.3 Differential Kinematics of the Full Five DoF Robot 14.1.4 Dynamics of the Full Five DoF Robot 14.2 Simplified Three DoF Geomagic Touch 14.2.1 Kinematics of the Three DoF Robot 14.2.2 Direct Kinematics of the Three DoF Robot 14.2.3 Differential Kinematics of the Three DoF Robot 14.2.4 Dynamics of the Three DoF Robot 14.2.5 Linear Parametrization of the Three DoF Robot