Applied Control of Manipulation Robots

1 Concepts of Manipulation Robot Control.- 1.1. Introduction.- 1.2. Automatic manipulation robots.- 1.3. Classification of automatic robots.- 1.4. Characteristic tasks and applications of robots in industry.- 1.5. Implementation of control of manipulation robots.- References.- 2 Kinematic Control Level.- 2.1. Introduction.- 2.2. Direct and inverse kinematic problem-determination of robot position.- 2.3. Trajectory synthesis for manipulation robots.- Exercises.- References.- 3 Synthesis of Servo Systems for Robot Control.- 3.1. Introduction.- 3.2. Dynamic model of robot.- 3.3. Synthesis of local servo system.- Exercises.- 3.4. Synthesis of local PID controller.- Exercises.- 3.5. Synthesis of local servo system for trajectory tracking.- Exercises.- References.- Appendix 3.A Local Optimal Regulator.- References.- 4 Control of Simultaneous Motions of Robot Joints.- 4.1. Introduction.- 4.2. Coupling between joints.- Exercises.- 4.3. Analysis of linearized model of robot.- 4.4. Synthesis of decentralized control for simultaneous motions of robot joints.- Exercises.- References.- Appendix 4.A Stability Analysis of Nonlinear Model of Robot.- 5 Synthesis of Robot Dynamic Control.- 5.1. Introduction.- 5.2. Synthesis of global control.- 5.3. Computer-aided synthesis of robot control.- Exercise.- 5.4. Computed torque method for robot control synthesis.- Exercises.- 5.5. Cartesian based control of robot.- Exercises.- References.- Appendix 5.A Stability Analysis of Robot with Global Control.- Appendix 5.B Centralized Optimal Regulator.- References.- 6 Variable Parameters and Concept of Adaptive Robot Control.- 6.1. Introduction.- 6.2. Robustness of control to variations of robot parameters.- Exercises.- 6.3. The concept of adaptive robot control.- Exercises.- References.- 7 Control of Constrained Motion of Robot.- 7.1. Introduction.- 7.2. An analysis of assembly process by robots.- Exercises.- 7.3. Robot control in the stage of parts mating.- Exercises.- 7.4. Hybrid position/force control of robots.- Exercises.- 7.5. Stiffness and impendance control of robots.- Exercises.- References.- Appendix Software Package for Synthesis of Robot Control.