Robot Manipulator - Adaptive Control: Adaptive Control of Robot Manipulator - Softcover

Tian Seng, Ng

Softcover

ISBN 10: 3659534307 ISBN 13: 9783659534300

Publisher: LAP LAMBERT Academic Publishing, 2014

Synopsis

Robots are widely implemented in modern heavy industries for the purpose of car assemblies, ship building, construction and aerospace. The technological advancement of these robots depend on research and development. This book covers many different controlling methods which is applied to the industrial robot manipulator. The most significant feature of the edition is the control of robot manipulator with unknown depth. The theoretical background for the study of the robot manipulator is expressed in the form of equations. Two different types of analysis for the robot had been conducted base on the gravity. In the context, various analysis of the adaptive control is used for the design of the robot controller. The controllers are implemented in real-time. The materials presented in the book is based on an experimental basis research. The experimental results are all illustrated in graphical form. The book provides an insight to readers the modern control techniques available, such as vision-based control of the robot. The book is useful for professionals, academics and engineers in the field of robotics and control engineering.

About this title

About the Author

Tian Seng, Ng, holds a M.Sc. degree in Computer Control and Automation from Nanyang Technological University. Executive at Nanyang Technological University, Singapore. He has worked on mechatronic and control system under the domain of Robotic, Machine Vision and Control Theory.

From the Inside Flap

Chapter 2 : Adaptive Control of Robot with Uncertainties
2.1 Robot Dynamics 2.2 Robot Kinematics 2.3 Adaptive Control 2.4 A Cartesian-space adaptive control using Jacobian Transpose Feedback 2.5 Adaptive Jacobian Control 2.6 Region based adaptive control 2.7 Adaptive Jacobian control with Uncertain Depth Information 2.8 Adaptive Control using Jacobian Transpose Feedback with Uncertain Depth Information
Chapter 3 : Experiment Setup
3.1 Robot system 3.2 Camera Imaging System 3.3 Equipment Required
Chapter 4: Design and Implementation
4.1 Robot Design 4.2 Controller Implementation 4.3 Controller Testing
Chapter 5 : Visual Control System
5.1 Active Vision 5.2 Visual Servoing 5.3 Machine Vision 5.4 Problems Encountered 5.5 Control with Vision 5.6 Simulation Results
Chapter 6 : Experimental Results
6.1 Non-Vision set-point control 6.2 Slotine JJE Adaptive Controller 6.3 Adaptive Jacobian Controller 6.4 Cartesian Control of Vision-Based Algorithm 6.5 Vision-Based control 6.6 Camera-based set-point control 6.7 Control using Singular Value Decomposition 6.8 Region control
Chapter 7 : Conclusion
Appendix 1 : Image processing commands Appendix 2 : C++ programs References Index

Edition details

• Publisher: LAP LAMBERT Academic Publishing
• Publication date: 2014
• Language: English
• ISBN 10: 3659534307
• ISBN 13: 9783659534300
• Binding: Paperback
• Number of pages: 132