Get Robot control 1988 (SYROCO '88) : selected papers from the PDF

By U. Rembold

ISBN-10: 0080357423

ISBN-13: 9780080357423

Containing 88 papers, the emphasis of this quantity is at the regulate of complicated robots. those robots might be self-contained or a part of a procedure. The functions of such robots fluctuate from production, meeting and fabric dealing with to house paintings and rescue operations. issues provided on the Symposium incorporated sensors and robotic imaginative and prescient platforms in addition to the making plans and keep an eye on of robotic activities. major subject matters coated comprise the layout of regulate platforms and their implementation; complicated sensors and multisensor structures; particular robotic programming; implicit (task-orientated) robotic programming; interplay among programming and keep watch over structures; simulation as a programming relief; AI recommendations for complex robotic structures and self reliant robots.

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Extra info for Robot control 1988 (SYROCO '88) : selected papers from the 2nd IFAC Symposium, Karlsruhe, FRG, 5-7 October 1988

Example text

Kinematic control as well as control concepts which are based on dynamic equa­ tions considering the drive moments to be the con­ trol inputs can be looked at along these lines . Then from the point of view of classical control engi­ neering the plant is considered to be the system of actuators having the links as ( time-varying and interacting ) loads . The forementioned command vari­ ables on their turn often are computed by applying control concepts to a ficitve second plant formed by the system of links and being driven by external forces i .

B . ( 1 985 ) Algorithms for the Active Sti ffness Control of an Elastic IMACS Congress, 1 1th Proc . Industrial Robot . Oslo , vol . 4 , 1 7-22 . ( 1987 ) . J. J. Kalker , Flexible Links : Dynamics , Control and Stability. Ing . Archiv 5 7 , 16-24 . On the Control of Manipulator ( 1 985 ) . P . Karkkainen Flexible Motion by Modal-Space Techniques . Acta Polytechnica Scand . L_Maths . · 44 _,_ 2-89 . J . , Gouri shankar , V . G . and Rink , R . E . ( 1 986 ) . King , Digital Multirate Control of Flexible-Link Mani- pulators .

Link are considered , the construction of this feed­ back law is rather involved and requires the solu­ tion of a linear partial differential equation. Additional investigations are necessary to check for robustness versus parameter uncertainties . other approaches are based on linear models for the arm being derived directly . This allows the study of structural properties such as output decoupling or feedback linearization for certain prototype robots without too much computational burden . Nevertheless , one has to be aware that such a study is either re­ stricted to a very special type of arm or , that such an extremely simplified model may reflect more the ideas of the modeller about the structure and struc­ tural properties of the system than reality .

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Robot control 1988 (SYROCO '88) : selected papers from the 2nd IFAC Symposium, Karlsruhe, FRG, 5-7 October 1988 by U. Rembold


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