Riassunto
The first book of the new, textbook series, entitled Applied Dynamics of Manipulation Robots: Modelling, Analysis and Examples, by M. Vukobratovic, published by Springer-Verlag (1989) was devoted to the problems of dynamic models and dynamic analysis of robots. The present book, the second in the series, is concerned with the problems of the robot control. In conceiving this textbook, several dillemas arouse. The main issue was the question on what should be incorporated in a textbook on such a complex subject. Namely, the robot control comprises a wide range of topics related to various aspects of robotics, starting from the syn thesis of the lowest, executive, control level, through the synthesis of trajectories (which is mainly related to kinematic models of robots) and various algorithms for solving the problem of task and robot moti on planning (including the solving of the problems by the methods of artificial intelligence) to the aspects of processing the data obtai ned from sensors. The robot control is closely related to the robot pro gramming (i. e. the development of highly-specialized programming lan guages for robot programming). Besides, numerous aspects of the con trol realization should be included here. It is obvious that all these aspects of control cannot be treated in detail in the frame of a text book.
Contenuti
1 Concepts of Manipulation Robot Control.- 1.1. Introduction.- 1.2. Automatic manipulation robots.- 1.3. Classification of automatic robots.- 1.4. Characteristic tasks and applications of robots in industry.- 1.5. Implementation of control of manipulation robots.- References.- 2 Kinematic Control Level.- 2.1. Introduction.- 2.2. Direct and inverse kinematic problem-determination of robot position.- 2.2.1. Analytic solution to inverse kinematic problem.- Exercises.- 2.2.2. Numerical solutions to inverse kinematic problem.- Exercises.- 2.3. Trajectory synthesis for manipulation robots.- Exercises.- References.- 3 Synthesis of Servo Systems for Robot Control.- 3.1. Introduction.- 3.2. Dynamic model of robot.- 3.2.1. Mathematic model of mechanical part of system.- Exercises.- 3.2.2. Models of actuators.- Exercises.- 3.2.3. Total model of robotic system.- Exercises.- 3.3. Synthesis of local servo system.- Exercises.- 3.3.1. Elements of local servo system.- Exercises.- 3.3.2. Synthesis of servo system in s-domain.- Exercises.- 3.3.3. Synthesis of servo system by pole-placement method.- Exercises.- 3.3.4. Effects of inertia variation and gravity moment of the mechanism on the behaviour of servo system.- Exercises.- 3.3.5. Nonlinear effects in local servo system.- Exercises.- 3.4. Synthesis of local PID controller.- Exercises.- 3.5. Synthesis of local servo system for trajectory tracking.- Exercises.- References.- Appendix 3.A Local Optimal Regulator.- References.- 4 Control of Simultaneous Motions of Robot Joints.- 4.1. Introduction.- 4.2. Coupling between joints.- Exercises.- 4.3. Analysis of linearized model of robot.- 4.3.1. Linear model of robot.- Exercises.- 4.3.2. Analysis of stability of linear model of robot with position control.- Exercises.- 4.4. Synthesis of decentralized control for simultaneous motions of robot joints.- Exercises.- 4.4.1. Synthesis of nominal programmed control.- Exercises.- References.- Appendix 4.A Stability Analysis of Nonlinear Model of Robot.- 4.A.1. Analysis of asymptotic stability of robot position control.- 4.A.2. Analysis of asymptotic stability of robot trajectory control.- 5 Synthesis of Robot Dynamic Control.- 5.1. Introduction.- 5.2. Synthesis of global control.- 5.2.1. Force feedback as global control.- 5.2.2. On-line computation of dynamic forces for global control.- Exercises.- 5.3. Computer-aided synthesis of robot control.- Exercise.- 5.4. Computed torque method for robot control synthesis.- Exercises.- 5.5. Cartesian based control of robot.- Exercises.- References.- Appendix 5.A Stability Analysis of Robot with Global Control.- Appendix 5.B Centralized Optimal Regulator.- References.- 6 Variable Parameters and Concept of Adaptive Robot Control.- 6.1. Introduction.- 6.2. Robustness of control to variations of robot parameters.- Exercises.- 6.3. The concept of adaptive robot control.- Exercises.- References.- 7 Control of Constrained Motion of Robot.- 7.1. Introduction.- 7.2. An analysis of assembly process by robots.- Exercises.- 7.3. Robot control in the stage of parts mating.- Exercises.- 7.4. Hybrid position/force control of robots.- Exercises.- 7.5. Stiffness and impendance control of robots.- Exercises.- References.- Appendix Software Package for Synthesis of Robot Control.
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