Control robotico

Advanced Textbooks in Control and Signal Processing

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 SoftComputing 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 OutputConstraints 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. Macháˇek c 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

123

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 formor 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 ISSN 1439-2232 ISBN-10: 1-85233-994-2 ISBN-13:978-1-85233-994-4 Springer Science+Business Media springeronline.com © Springer-Verlag London Limited 2005 The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, withregard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Typesetting: Camera ready by authors Production: LE-TEX Jelonek, Schmidt & Vöckler GbR, Leipzig, Germany Printed in Germany 69/3141-543210 Printed on acid-free paper SPIN 11321323

To my parents,
with everlasting love, respect and...