Documents disponibles dans la collection

Control of Robot Manipulators in Joint Space / Kelly, Rafael

Public ISBD Titre : Control of Robot Manipulators in Joint Space Type de document : document électronique Auteurs : Kelly, Rafael, Auteur Editeur : Berlin : Springer Année de publication : 2005 Collection : Advanced Textbooks in Control and Signal Processing ISBN/ISSN/EAN : 978-1-85233-999-9 Langues : Anglais (eng) Mots-clés : Automation  Engineering  Structural  control  (Engineering) Index. décimale : 681.51 Systemes de régulation automatique en général.caractéristiques techniques de la cybernétique Résumé : Robot control is the backbone of robotics, an essential discipline in the maintenance of high quality and productivity in modern industry. The most common method of control for industrial robotic manipulators relies on the measurement and amendment of joint displacement: so-called "joint-space control". Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the text’s four parts: * robot dynamics and mathematical preliminaries; * set-point model-based control; * tracking model-based control; and * adaptive and velocity-independent control A complete course in robot control based on joint space can be constructed for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used throughout to test the examined controllers by experimentation. In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual. All of this labour-saving supplementary material can be downloaded from the Springer website. Control of Robot Manipulators in Joint Space [document électronique] / Kelly, Rafael, Auteur . - Springer, 2005. - (Advanced Textbooks in Control and Signal Processing) . ISBN : 978-1-85233-999-9 Langues : Anglais (eng) Mots-clés : Automation  Engineering  Structural  control  (Engineering) Index. décimale : 681.51 Systemes de régulation automatique en général.caractéristiques techniques de la cybernétique Résumé : Robot control is the backbone of robotics, an essential discipline in the maintenance of high quality and productivity in modern industry. The most common method of control for industrial robotic manipulators relies on the measurement and amendment of joint displacement: so-called "joint-space control". Control of Robot Manipulators in Joint Space addresses robot control in depth, treating a range of model-based controllers in detail: proportional derivative; proportional integral derivative; computed torque and some adaptive variants. Using varying combinations of the text’s four parts: * robot dynamics and mathematical preliminaries; * set-point model-based control; * tracking model-based control; and * adaptive and velocity-independent control A complete course in robot control based on joint space can be constructed for senior undergraduates or masters students. Other areas of study important to robotics, such as kinematics, receive attention within the case studies which are based around a 2-degrees-of-freedom planar articulated arm termed the Pelican prototype and used throughout to test the examined controllers by experimentation. In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual. All of this labour-saving supplementary material can be downloaded from the Springer website.

Exemplaires

Code-barres	Cote	Support	Localisation	Section	Disponibilité	Etat_Exemplaire
E00125	681.51 KEL	Ressources électroniques	Bibliothèque Centrale	Automatique	Disponible
E00126	681.51 KEL	Ressources électroniques	Bibliothèque Centrale	Automatique	Disponible

Robust Control Design with MATLAB® / Gu, Da-Wei

Public ISBD Titre : Robust Control Design with MATLAB® Type de document : texte imprimé Auteurs : Gu, Da-Wei, Auteur ; Konstantinov, Mihail Mihaylov, Auteur ; Petkov, Petko Hr, Auteur Editeur : Berlin : Springer Année de publication : 2005 Collection : Advanced Textbooks in Control and Signal Processing Importance : 389 p. Présentation : ill. Format : 24 cm ISBN/ISSN/EAN : 978-1-85233-983-8 Note générale : Bibliogr. p. [377]-386. Index Langues : Français (fre) Mots-clés : Commande,  Théorie  de  la Chemical  engineering Computer  aided  design Computer  engineering Engineering Industrial  engineering Structural  control  (Engineering) Systems  theory Index. décimale : 681.5 Technologie de la commande automatique. Technologie intelligence. systèmes de contrôle. Automation Résumé : Robustness is often of crucial importance in control system design. Real engineering systems are vulnerable to external disturbance and measurement noise and there are always discrepancies between mathematical models used for design and the actual system in practice. Robust Control Design with MATLAB® helps you learn how to use well-developed advanced robust control design methods in practical cases. To this end, several realistic control design examples ranging from teaching-laboratory experiments, such as a mass–damper–spring assembly, to complex systems like a flexible link manipulator are given detailed presentation. All the design exercises are conducted using MATLAB® Robust Control Toolbox, Control System Toolbox and Simulink®. By sharing their experiences in industrial cases with minimum recourse to complicated theories and formulae, the authors convey essential ideas and useful insights into robust industrial control systems design using major H-infinity optimization and related methods allowing you quickly to move on with your own challenges. Note de contenu : * Modelling of Uncertain Systems * Robust Design Specifications * Design * Loop-shaping Design Procedures * Analysis and Synthesis * Lower-order Controllers * Robust Control of a Mass-Damper-Spring System * A Triple Inverted Pendulum Control-system Design * Robust Control of a Hard Disk Drive Robust Control Design with MATLAB® [texte imprimé] / Gu, Da-Wei, Auteur ; Konstantinov, Mihail Mihaylov, Auteur ; Petkov, Petko Hr, Auteur . - Springer, 2005 . - 389 p. : ill. ; 24 cm. - (Advanced Textbooks in Control and Signal Processing) . ISBN : 978-1-85233-983-8 Bibliogr. p. [377]-386. Index Langues : Français (fre) Mots-clés : Commande,  Théorie  de  la Chemical  engineering Computer  aided  design Computer  engineering Engineering Industrial  engineering Structural  control  (Engineering) Systems  theory Index. décimale : 681.5 Technologie de la commande automatique. Technologie intelligence. systèmes de contrôle. Automation Résumé : Robustness is often of crucial importance in control system design. Real engineering systems are vulnerable to external disturbance and measurement noise and there are always discrepancies between mathematical models used for design and the actual system in practice. Robust Control Design with MATLAB® helps you learn how to use well-developed advanced robust control design methods in practical cases. To this end, several realistic control design examples ranging from teaching-laboratory experiments, such as a mass–damper–spring assembly, to complex systems like a flexible link manipulator are given detailed presentation. All the design exercises are conducted using MATLAB® Robust Control Toolbox, Control System Toolbox and Simulink®. By sharing their experiences in industrial cases with minimum recourse to complicated theories and formulae, the authors convey essential ideas and useful insights into robust industrial control systems design using major H-infinity optimization and related methods allowing you quickly to move on with your own challenges. Note de contenu : * Modelling of Uncertain Systems * Robust Design Specifications * Design * Loop-shaping Design Procedures * Analysis and Synthesis * Lower-order Controllers * Robust Control of a Mass-Damper-Spring System * A Triple Inverted Pendulum Control-system Design * Robust Control of a Hard Disk Drive

Exemplaires

Code-barres	Cote	Support	Localisation	Section	Disponibilité	Etat_Exemplaire
052689	681.5 GU	Papier	Bibliothèque Centrale	Automatique	Disponible