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 via Springer-Verlag (1989) used to be dedicated to the issues of dynamic versions and dynamic research of robots. the current publication, the second one within the sequence, is worried with the issues of the robotic regulate. In conceiving this textbook, a number of dillemas arouse. the most factor used to be the query on what might be included in a textbook on this sort of complicated topic. particularly, the robotic regulate contains a variety of subject matters relating to quite a few points of robotics, ranging from the syn­ thesis of the bottom, govt, keep an eye on point, during the synthesis of trajectories (which is especially on the topic of kinematic versions of robots) and diverse algorithms for fixing the matter of job and robotic moti­ on making plans (including the fixing of the issues through the tools of man-made intelligence) to the elements of processing the information obtai­ ned from sensors. The robotic keep watch over is heavily with regards to the robotic seasoned­ gramming (i. e. the improvement of highly-specialized programming lan­ guages for robotic programming). along with, quite a few points of the con­ trol attention could be incorporated the following. it's noticeable that each one those features of regulate can't be taken care of intimately within the body of a textual content­ book.

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For an arbitrary robotic structure. 2; a detailed consideration of the problem can be found in [3]. 35 tures, however, it is possible to obtain an analytic solution of the inverse kinematic problem, while for some others, this is not possible. , two intersecting and two parallel joint axes (Fig. e. to determine explicitly the joint angles qi as a function of external coordinates. f. f. can be, in a general case, reduced to finding the zeros of a polynom of the fourth power. z Fig. 3. , it is necessary to split the problem into two independent subproblems: the determination of the solution for the first three joints q1, q2, q3, and determination of the remaining three coordinates q4, q5, and q6.

The robot's sensors supplying the informotion about the actual positions of joints, their velocities and accelerations) . The executive control level can be realized either by the analogue technique or by the aid of microprocessor. In the former case, the robot control unit is provided with a computer for implementation of *) This is an average "speed" (sampling rate) needed to carry out the mapping at the tactical control level. 20 higher control levels and with the analogue servo systems with actuators to move the robot joints.

31 It should be noticed that robot external coordinates can be defined in different ways. For example, the gripper position can be described by cylindrical or spherical coordinates, and the gripper orientation can be described by angles adopted in some other way. As is known [2J, robots are powered by means of actuators of various types. Most often, one manipulator joint is powered by one actuator. The motion of the actuator is transformed into the motion (either, rotation or translation) of the corresponding joint.

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