Robot control is the backbone of robotics, an essential discipline
in the maintenance of high quality and productivity in modern
industry. The most common method of control for industrial robotic
manipulators relies on the measurement and amendment of joint
displacement: so-called "joint-space control."
Control of Robot Manipulators in Joint Space addresses robot
control in depth, treating a range of model-based controllers in
detail: proportional derivative; proportional integral derivative;
computed torque and some adaptive variants. Using varying
combinations of the texta (TM)s four parts:
- robot dynamics and mathematical preliminaries;
- set-point model-based control;
- tracking model-based control; and
- adaptive and velocity-independent control
A complete course in robot control based on joint space can be
constructed for senior undergraduates or masters students. Other
areas of study important to robotics, such as kinematics, receive
attention within the case studies which are based around a
2-degrees-of-freedom planar articulated arm termed the Pelican
prototype and used throughout to test the examined controllers by
experimentation.
In addition to the written text, auxiliary resources are
available in the form of pdf projector presentations for the
instructor to use in lectures and as printed class aids for
students, and a pdf solutions manual. All of this labour-saving
supplementary material can be downloaded from the Springer
website.
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