Applied Control of Manipulation Robots: Analysis, Synthesis by Professor Miomir Vukobratović Ph. D., D. Sc., Assoc.

By Professor Miomir Vukobratović Ph. D., D. Sc., Assoc. professor Dragan Stokić Ph. D. (auth.)

The first booklet of the recent, textbook sequence, entitled utilized Dynamics of Manipulation Robots: Modelling, research and Examples, by means of M. Vukobratovic, released by way of Springer-Verlag (1989) used to be dedicated to the issues of dynamic versions and dynamic research of robots. the current e-book, the second one within the sequence, is anxious with the issues of the robotic keep watch over. In conceiving this textbook, a number of dillemas arouse. the most factor was once the query on what might be integrated in a textbook on any such advanced topic. specifically, the robotic keep an eye on includes a variety of themes with regards to a variety of features of robotics, ranging from the syn­ thesis of the bottom, government, keep an eye on point, during the synthesis of trajectories (which is especially relating to kinematic types of robots) and numerous algorithms for fixing the matter of activity and robotic moti­ on making plans (including the fixing of the issues via the equipment of synthetic intelligence) to the elements of processing the information obtai­ ned from sensors. The robotic regulate is heavily with regards to the robotic seasoned­ gramming (i. e. the advance of highly-specialized programming lan­ guages for robotic programming). along with, quite a few facets of the con­ trol attention might be integrated right here. it truly is visible that every one those facets of keep watch over can't be taken care of intimately within the body of a textual content­ book.

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Extra resources for Applied Control of Manipulation Robots: Analysis, Synthesis and Exercises

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When choosing a suitable robot control one should adopt the one which is as simple as possible from the viewpoint of its implementation, but which will, on the other hand, satisfy the given requirements. However, this book is not specially concerned with 17 the problems of robot control implementation [3]. We shall only briefly point out some of the aspects of realization of robotic control units which should be taken into account when the choice of appropriate control laws is concerned. As with other systems, the robot control may be realized by analogue, hybride or microprocessor technique.

In parts assemblying, the problem of accurate positioning arises at the state of bringing the workpiece to the site of parts mateing, though the operation of assemblying is more complicated *) In a general case, the gripping phase can be complex too (in the case the shape of the workpiece is not defined in advance), but these problems are not going to be dealt with here. 29 (as it will be shown in Chapter 7). Thus, all robots have to ensure the possibility of versatile positioning, and they differ with respect to the mode the positioning is programmed and executed, and the acouracy the desired positioning is accomplished*).

On the other hand, the control law chosen at the executive level should be as simple as possible (requiring the smallest number of operations), but which can satisfy the desired requirements, in order to avoid the application of a large number of processors in parallel. However, implementation of many of the complex control laws requiring the calculation of robot's dynamic forces, demands application of several 16bit processors in parallel. Such a realization is rather complicated, so that such control laws are not used with the majority of commerciall available robots.

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