Fundamentals for Control of Robotic Manipulators

Abstract

Robotic systems kinematics for manipulator joints, links and gripper inverse solution to kinematic equations angular/translational velocity and force/torque relations in joint and base co-ordinates determination of dynamical models for manipulators state variable representation, and linearization of nonlinear models adaptive control of manipulator gross motion compliant motion control for robot manipulators. Appendices: Hamilton's principle and derivation of Euler-Lagrange's equations for a dynamical system derivation of equations of motion for a serial link manipulator in Lagrange's formulation derivation of recursive Lagrange's equations for manipulator motion equations of Newton and Euler for dynamical modelling review of self-tuning controller design by the explicit method.