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CONTENTS xiii

Structure and Properties of the Cartesian
Dynamics 150
3.6 Actuator Dynamics 152
Dynamics of a Robot Arm with Actuators 152
Third-Order Arm-Plus-Actuator Dynamics 154
Dynamics with Joint Flexibility 155
3.7 Summary 161
References 163
Problems 166

4 Computed-Torque Control 169
4.1 Introduction 169
4.2 Path Generation 170
Converting Cartesian Trajectories to Joint Space 171
Polynomial Path Interpolation 173
Linear Function with Parabolic Blends 176
Minimum-Time Trajectories 178
4.3 Computer Simulation of Robotic Systems 181
Simulation of Robot Dynamics 181
Simulation of Digital Robot Controllers 182
4.4 Computed-Torque Control 185
Derivation of Inner Feedforward Loop 185
PD Outer-Loop Design 188
PID Outer-Loop Design 197
Class of Computed-Torque-Like Controllers 202
PD-Plus-Gravity Controller 205
Classical Joint Control 208
4.5 Digital Robot Control 222
Guaranteed Performance on Sampling 224
Discretization of Inner Nonlinear Loop 225
Joint Velocity Estimates from Position
Measurements 226
Discretization of Outer PD/PID Control Loop 226
Actuator Saturation and Integrator Antiwindup
Compensation 228
4.6 Optimal Outer-Loop Design 243
Linear Quadratic Optimal Control 243
Linear Quadratic Computed-Torque Design 246
4.7 Cartesian Control 248
Cartesian Computed-Torque Control 248
Cartesian Error Computation 250
4.8 Summary 251

Copyright © 2004 by Marcel Dekker, Inc.