Robot Dynamics and Control

by Spong, Mark W.; Vidyasagar, M.

• ISBN13: 9780471612438
• ISBN10: 047161243X
• Edition: 1st
• Format: Paperback
• Copyright: 1991-01-16
• Publisher: Wiley

Summary

This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. Provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. Includes many worked examples, examples illustrating all aspects of the theory, and problems.

Author Biography

Mark W. Spong is Donald Biggar Willett Professor of Engineering at the University of Illinois at Urbana-Champaign. Dr. Spong is the 2005 President of the IEEE Control Systems Society and past Editor-in-Chief of the IEEE Transactions on Control Systems Technology.

Mathukumalli Vidyasagar is currently Executive Vice President in charge of Advanced Technology at Tata Consultancy Services, India's largest IT firm. Dr. Vidyasagar was formerly the director of the Centre for Artificial Intelligence and Robotics, under Government of India Ministry of Defense.

Table of Contents

Introduction	1	(31)
Introduction	1	(1)
Robotics	2	(2)
Components and Structure of Robots	4	(4)
Common Kinematic Arrangements	8	(13)
Outline of the Text	21	(11)
References and Suggested Reading	27	(2)
Problems	29	(3)
Rigid Motions and Homogeneous Transformations	32	(30)
Rotations	33	(5)
Composition of Rotations	38	(5)
Further Properties of Rotations	43	(3)
Homogeneous Transformations	46	(4)
Skew Symmetric Matrices	50	(3)
Angular Velocity and Acceleration	53	(2)
Addition of Angular Velocities	55	(7)
References and Suggested Reading	56	(1)
Problems	57	(5)
Forward Kinematics: The Denavit-Hartenberg Representation	62	(30)
Kinematic Chains	62	(3)
Denavit-Hartenberg Representation	65	(7)
Examples	72	(20)
References and Suggested Reading	83	(1)
Problems	84	(8)
Inverse Kinematics	92	(19)
Introduction	92	(2)
Kinematic Decoupling	94	(2)
Inverse Position: A Geometric Approach	96	(6)
Inverse Orientation	102	(9)
References and Suggested Reading	107	(1)
Problems	108	(3)
Velocity Kinematics---The Manipulator Jacobian	111	(18)
Derivation of the Jacobian	112	(5)
Examples	117	(2)
Singularities	119	(7)
Inverse Velocity and Acceleration	126	(3)
References and Suggested Reading	127	(1)
Problems	128	(1)
Dynamics	129	(38)
Euler-Lagrange Equations	129	(7)
Expressions for Kinetic and Potential Energy	136	(5)
Equations of Motion	141	(3)
Some Common Configurations	144	(9)
Newton-Euler Formulation	153	(6)
Planar Elbow Manipulator Revisited	159	(8)
References and Suggested Reading	162	(1)
Problems	163	(4)
Independent Joint Control	167	(49)
Introduction	167	(2)
Actuator Dynamics	169	(6)
Set-Point Tracking	175	(8)
Drive Train Dynamics	183	(12)
Trajectory Interpolation	195	(11)
Feedforward Control and Computed Torque	206	(10)
References and Suggested Reading	211	(1)
Problems	212	(4)
Multivariable Control	216	(25)
Introduction	216	(1)
PD Control Revisited	216	(5)
Inverse Dynamics	221	(3)
Implementation and Robustness Issues	224	(3)
Robust Outer Loop Design	227	(14)
References and Suggested Reading	236	(3)
Problems	239	(2)
Force Control	241	(18)
Introduction	241	(4)
Natural and Artificial Constraints	245	(1)
Stiffness and Compliance	246	(5)
Inverse Dynamics in Task Space	251	(1)
Impedance Control	252	(2)
Hybrid Position/Force Control	254	(5)
References and Suggested Reading	256	(1)
Problems	257	(2)
Feedback Linearization	259	(25)
Introduction	259	(2)
Background: The Frobenius Theorem	261	(5)
Single-Input Systems	266	(8)
Feedback Linearization for N-Link Robots	274	(3)
Introduction to Outer Loop Design	277	(2)
Outer Loop Design by Lyapunov's Second Method	279	(5)
References and Suggested Reading	281	(1)
Problems	281	(3)
Variable Structure and Adaptive Control	284	(32)
Introduction	284	(4)
The Method of Sliding Modes	288	(13)
Adaptive Control	301	(15)
References and Suggested Reading	313	(1)
Problems	314	(2)
Appendix A: Linear Algebra	316	(5)
Appendix B: State Space Theory of Dynamical Systems	321	(4)
Appendix C: Lyapunov Stability	325	(6)
Index	331