Advances in Control of Articulated and Mobile Robots by Bruno Siciliano, Claudio Melchiorri, Alessandro De Luca, PDF

By Bruno Siciliano, Claudio Melchiorri, Alessandro De Luca, Giuseppe Casalino

This monograph provides an up to date resource of knowledge at the cutting-edge in complex regulate of articulated and cellular robots. It comprises appropriate chosen difficulties facing more advantageous actuation, movement making plans and regulate services for articulated robots, in addition to of sensory and self reliant selection features for cellular robots. the elemental notion in the back of the e-book is to supply a bigger neighborhood of robot researchers and builders with a competent resource of knowledge and leading edge functions within the box of keep watch over of cooperating and cellular robots. This publication is the result of the study undertaking MISTRAL (Methodologies and Integration of Subsystems and applied sciences for Anthropic Robotics and Locomotion) funded in 2001-2002 by way of the Italian Ministry for schooling, collage and examine. The thorough dialogue, rigorous therapy, and large span of the provided paintings display the numerous advances within the theoretical origin and know-how foundation of the robotics box around the globe.

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It is important to note that in the FRP case one obtains the velocity error δv = Bm . As a consequence, the tracking position error is lim2 2 Bb + Bm + Bb Bm (2 + Gm ) Mm + Bb T . ited only if Bm = 0, in which case δ = Bb2 Table 3. Tracking errors for the different control schemes. Scheme Tracking (δ) FR Bm + K c T Bm Kc (1 + Gc ) PE 1 2Gc Kc FRP ∞ IPC 2Bi (Kmi + Kmc ) + Kmi Kmc T 2Bi Kmi Kmc 4C C2 − C3 2(Bm + Cm ) 3C −C3 2(Bm + Cm ) 48 P. Arcara and C. Melchiorri CR4. Stiffness Another important aspect for the evaluation of the performance of a telemanipulation scheme is the correct perception, for the human operator, of the stiffness of the remote environment.

Table 2 contains the expressions of the perceived inertia Meq and damping Beq for the considered control schemes. Table 2. Inertia and damping terms for the considered control schemes. Scheme Inertia (Meq ) FR (1 + Gc )Mm − Gc Bm Bm + 2T Kc 2(Mm − Bm T − Kc T 2 ) − PE FRP Damping (Beq ) 1+ Gc Bi2 (Bm +Bi )2 Mm − 2Gc Bi Bm T Bm +Bi 2 Bm Kc − 2 Gc Bi2 Bm (Bm +Bi )2 Kc (Bm + Bmc )2 T + ... Bi 2 (2Kmi + Kmc ) 2Bmc ... − + ... Kmi Kmc 2Bm (Kmi + Kmc )(Bm + 2Bmc ) ... − Kmi Kmc 2T (Bm + Cm ) C2 + C3 (1 + Gc )Bm 2(Bm + Kc T ) Bm + B i + Gc Bi Bm Bm +Bi 2(Mm + Mmc ) + Bi T − IPC 4C 3C 2T (Bm + Cm ) C3 2(Bm + Bmc ) 0 0 Control Schemes for Robotic Teleoperation Systems with Time Delay 47 CR3.

A. De Luca and G. Di Giovanni, “Rest-to-rest motion of a one-link flexible arm,” Proc. of 2001 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 923–928, 2001. 12. A. De Luca and G. Di Giovanni, “Rest-to-rest motion of a two-link robot with a flexible forearm,” Proc. of 2001 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 929–935, 2001. 13. A. De Luca, S. Iannitti, and G. Oriolo, “Stabilization of a PR planar underactuated robot,” Proc. of 2001 IEEE Int. Conf. on Robotics and Automation, pp.

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Advances in Control of Articulated and Mobile Robots by Bruno Siciliano, Claudio Melchiorri, Alessandro De Luca, Giuseppe Casalino


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