Control of Robot Manipulators in Joint Space
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 joi
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Series Editors Professor Michael J. Grimble, Professor of Industrial Systems and Director Professor Michael A. Johnson, Professor Emeritus of Control Systems and Deputy Director Industrial Control Centre, Department of Electronic and Electrical Engineering, University of Strathclyde, Graham Hills Building, 50 George Street, Glasgow G1 1QE, UK
Other titles published in this series: Genetic Algorithms K.F. Man, K.S. Tang and S. Kwong Neural Networks for Modelling and Control of Dynamic Systems M. Nørgaard, O. Ravn, L.K. Hansen and N.K. Poulsen Modelling and Control of Robot Manipulators (2nd Edition) L. Sciavicco and B. Siciliano Fault Detection and Diagnosis in Industrial Systems L.H. Chiang, E.L. Russell and R.D. Braatz Soft Computing L. Fortuna, G. Rizzotto, M. Lavorgna, G. Nunnari, M.G. Xibilia and R. Caponetto Statistical Signal Processing T. Chonavel Discrete-time Stochastic Processes (2nd Edition) T. Söderström Parallel Computing for Real-time Signal Processing and Control M.O. Tokhi, M.A. Hossain and M.H. Shaheed Multivariable Control Systems P. Albertos and A. Sala Control Systems with Input and Output Constraints A.H. Glattfelder and W. Schaufelberger Analysis and Control of Non-linear Process Systems K. Hangos, J. Bokor and G. Szederkényi Model Predictive Control (2nd Edition) E.F. Camacho and C. Bordons Principles of Adaptive Filters and Self-learning Systems A. Zaknich Digital Self-tuning Controllers V. Bobál, J. Böhm, J. Fessl and J. Macháˇcek Robust Control Design with MATLAB® D.-W. Gu, P.Hr. Petkov and M.M. Konstantinov Publication due July 2005 Active Noise and Vibration Control M.O. Tokhi Publication due November 2005
R. Kelly, V. Santibáñez and A. Loría
Control of Robot Manipulators in Joint Space With 110 Figures
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Rafael Kelly, PhD Centro de Investigación Científica y de Educación Superior de Ensenada (CICESE), Ensenada B.C. 22800, Mexico Victor Santibáñez Davila, PhD Instituto Tecnologico de la Laguna, Torreón, Coahuila, 27001, Mexico Antonio Loría, PhD CNRS, Laboratoire des Signaux et Systèmes, Supélec, 3 rue Joliot Curie, 91192 Gif-sur-Yvette, France
British Library Cataloguing in Publication Data Kelly, R. Control of robot manipulators in joint space. - (Advanced textbooks in control and signal processing) 1. Robots - Control systems 2. Manipulators (Mechanism) 3. Programmable controllers I. Title II. Santibáñez, V. III. Loría, A. 629.8’933 ISBN-10: 1852339942 Library of Congress Control Number: 2005924306 Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. Advanced Textbooks in Control and Signal Processing series I
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