53. Motion Control
53. Motion Control
Chien Chern Cheah and Reza Haghighi: School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore
Chien Chern Cheah and Reza Haghighi: School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore
53.1 Introduction
53.2 Dynamics and Kinematics of Robot Manipulators
Dynamic Equation of Robots
Kinematic Equation Kinematic equation of Robots
53.3 Set-Point Control by PD Plus Gravity Controller
53.4 Adaptive Control of Robot Manipulators
53.5 Approximate Jacobian Set-Point Control
53.6 Adaptive Jacobian Tracking Control
53.7 Simulation Results
PD Plus Gravity Control Law
Task-Space PD Plus Gravity
Adaptive Control
Approximate Jacobian Set-Point Control with Uncertain Gravitational Force
Adaptive Jacobian Tracking Control
53.8 Summary
Appendix 1
Appendix 2
Appendix 3
References
Abstract
Robot manipulators have been widely used in industrial automation. In many modern robot control applications, sensory information such as visual feedback is used to improve positioning accuracy and robustness to uncertainty. This chapter introduces basic concepts and design methods that are employed for motion control of robot manipulators with uncertainty. The chapter covers both basic methods in joint-space control and advance topics in sensory task-space control.