Download or read book A Model for the Adaptive Control of a Six Degree of Freedom Robotic Arm written by James Edward Goodbar and published by . This book was released on 1991 with total page 142 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Kinematic Modeling and L1 Adaptive Position Control of a 6 Degree of Freedom Robot Arm written by Jesse DeLuca and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent decades robots have become more commonly used in industrial settings and in everyday life. As they become more common, they are being used to solve more challenging problems, such as welding, assembly, and self navigation. These problems require complex control strategies to allow the robots to handle uncertainties and nonlinearities associated with these problems. The control of a robot arm typically requires the use of the robot's inverse kinematics, which are complicated and hard to derive due to the nonlinear nature of robot arms and the heavy coupling of the robot's dynamics. The objective of this work is to model the forward kinematics of a six degree of freedom robot arm and control the position and orientation of the robot's end effector by implementing an L1 adaptive controller. The kinematics of the robot are derived using the Denavit-Hartenberg convention and utilized by the L1 controller to accurately control the position and orientation of the robot without the use of inverse kinematics. An L1 adaptive controller is able to estimate and control the position of a robot arm using only forward kinematics, which are much simpler to derive. Additionally, L1 controllers are capable of adapting quickly to uncertainties and disturbances in a system making them an excellent candidate for controlling a heavily nonlinear system such as a robot arm. The positioning of the robot arm will be simulated in MATLAB and used to evaluate the performance of the L1 controller.
Download or read book Model referenced Adaptive Control of a Two degree of freedom Robotic Device written by Jeffrey L. Whaley and published by . This book was released on 1984 with total page 102 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control of Mechanical Manipulators written by John J. Craig and published by Addison Wesley Publishing Company. This book was released on 1988 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book SMC fat Based Adaptive Control of Robot Manipulator Unknown Time Varying Uncertainties written by Mst Nafisa Tamanna Shanta and published by . This book was released on 2016 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control of a Manipulator with a Flexible Link written by Institute for Computer Applications in Science and Engineering and published by . This book was released on 1988 with total page 24 pages. Available in PDF, EPUB and Kindle. Book excerpt: An adaptive controller for a manipulator with one rigid link and one flexible link is presented. The performance and robustness of the controller are demonstrated by numerical simulation results. In the simulations, the manipulator moves in a gravitational field and a finite element model represents the flexible link. Keywords: Adaptive control, Robot, Flexible link.
Download or read book Adaptive Control of a 2 DOF Flexible Robot Arm written by Caroline Høier Clausen and published by . This book was released on 1991 with total page 56 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control Systems written by Chalam and published by Routledge. This book was released on 2017-10-19 with total page 544 pages. Available in PDF, EPUB and Kindle. Book excerpt: impossible to access. It has been widely scattered in papers, reports, and proceedings ofsymposia, with different authors employing different symbols and terms. But now thereis a book that covers all aspects of this dynamic topic in a systematic manner.Featuring consistent terminology and compatible notation, and emphasizing unifiedstrategies, Adaptive Control Systems provides a comprehensive, integrated accountof basic concepts, analytical tools, algorithms, and a wide variety of application trendsand techniques.Adaptive Control Systems deals not only with the two principal approachesmodelreference adaptive control and self-tuning regulators-but also considers otheradaptive strategies involving variable structure systems, reduced order schemes, predictivecontrol, fuzzy logic, and more. In addition, it highlights a large number of practical applicationsin a range of fields from electrical to biomedical and aerospace engineering ...and includes coverage of industrial robots.The book identifies current trends in the development of adaptive control systems ...delineates areas for further research . : . and provides an invaluable bibliography of over1,200 references to the literature.The first authoritative reference in this important area of work, Adaptive ControlSystems is an essential information source for electrical and electronics, R&D,chemical, mechanical, aerospace, biomedical, metallurgical, marine, transportation, andpower plant engineers. It is also useful as a text in professional society seminars and inhousetraining programs for personnel involved with the control of complex systems, andfor graduate students engaged in the study of adaptive control systems.
Download or read book SIMPLE ADAPTIVE CONTROL OF A ROBOT ARM written by DAVE K. GOLDBERG A. GALIP ULSOY Y. KOREN and published by . This book was released on 1982 with total page 29 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Four Degree of freedom Robotic Arm Control Using Adaptive Fuzzy Logic written by Ngamsom Pinit and published by . This book was released on 1996 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Simulation and Adaptive Control of a Robot Arm written by Pauline Anne Marchand and published by . This book was released on 1985 with total page 334 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control Design for Controlling Vibrations of 3 Degrees of Freedom Robotic Manipulator written by Rostan Rodrigues and published by . This book was released on 2010 with total page 62 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book An Adaptive Control Strategy for Robot Manipulator Control written by Guo-Qiang Zhou and published by . This book was released on 1987 with total page 218 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 892 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robot Force Control written by Bruno Siciliano and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator's end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object; hence the need to seek for effective force control strategies. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator kinematic redundancy. Then, direct force control strategies are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. Finally, advanced force and position control strategies are presented which include passivity-based, adaptive and output feedback control schemes. Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.
Download or read book Model Based Control of a Robot Manipulator written by Chae H. An and published by MIT Press (MA). This book was released on 1988-03-01 with total page 233 pages. Available in PDF, EPUB and Kindle. Book excerpt: The first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control.
Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1987 with total page 934 pages. Available in PDF, EPUB and Kindle. Book excerpt:
