tailieunhanh - Giáo trình robot - Phần 3

Tham khảo tài liệu 'giáo trình robot - phần 3', kỹ thuật - công nghệ, tự động hoá phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Part II Position Control Introduction to Part II Depending on their application industrial robot manipulators may be classified into two categories the first is that of robots which move freely in their workspace . the physical space reachable by the end-effector thereby undergoing movements without physical contact with their environment tasks such as spray-painting laser-cutting and welding may be performed by this typeof manipulator. The second category encompasses robots which are designed to interact with their environment for instance by applying a complying force tasks in this category include polishing and precision assembling. In this textbook we study exclusively motion controllers for robot manipulators that move about freely in their workspace. For clarity of exposition we shall consider robot manipulators provided with ideal actuators that is actuators with negligible dynamics or in other words that deliver torques and forces which are proportional to their inputs. This idealization is common in many theoretical works on robot control as well D inmost textbookson other hand the recent technological dewlo nn nte inOhe losi-lmcleie of eleeteomerCanicatactnetors ollowxneOo retk no o ừ ct-detoe secnomonors moy becoosidered eeih eol torexe souheeoonne owide canae hf apnraringpgintn FinaHy os Ìiiiiin-C-IHIIỊ to lie ll i Hi theteoen id in oeistshtbook ws oshume trot ths ectustncs are ipnal mcrshudiesof caotroiless thaOwepessentintUe eeneel may aeeashy extsodee Xyeeoeying outminormonUcatickSiShthecrce -hhicrcu aotuctors oitOe ooconn OTder tuoh io dec esoodf De motors. Motíen contreeitrc ohaUdP otudeeto clcstiileX into i eiimeiepierelKcetoni eoe 11 . onrhiessconp paeaof tie bnoe we study position controllers setqemoi koptrollorn aedm nort no westddy motioncs -ottees heeckmd controllers . a o _ Coneider the dynamiemodel ei e coboa monikeictot sehn links so irieỊicc at tlletotxtc ane wieaiHeoel eoCucto s andwihch we mean telew