Download or read book A New Approach to Control Single link Flexible Arms Part III Adaptive Control of the Tip Position with Payload Changes written by Carnegie-Mellon University. Robotics Institute and published by . This book was released on 1989 with total page 27 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "This third report describes a new method to control single-link lumped-mass flexible arms in the case of having friction in the joint and changes in the payload. Both linear and nonlinear friction components are overcome by using the very robust control scheme developed in the second report, which is based on two nested feedback loops: an inner one that controls the motor position and an outer one that controls the tip position. In order to compensate for changes in the payload, an adaptive control scheme is used. Two cases are considered when compensating for changes in the tip payload: the arm is a minimum phase system or a non-minimum phase one. Different adaptive control schemes are proposed in each case. In them, compensation for changes in the load is achieved in two steps: first the tip payload is estimated from a very simple procedure proposed here, and then the feedforward and feedback controllers are tuned according to this estimated value. It results in a quite simple control law that can be used for real-time control of flexible arms, and that needs minimal computing effort. Experimental results are shown."

Download or read book A New Approach to Control Single link Flexible Arms Part II Control of the Tip Position in the Presence of Joint Friction written by Carnegie-Mellon University. Robotics Institute and published by . This book was released on 1989 with total page 69 pages. Available in PDF, EPUB and Kindle. Book excerpt: Performances of the three schemes are compared under the following disturbances: a) motor position perturbations, b) unmodelled dynamics, and c) changes in the payload. Experimental results are presented for the two arms described in the Part I; the three tip position control schemes are compared in both arms; and, finally, conclusions are drawn."

Download or read book A New Approach to Control Single Link Flexible Arms Part 2 Control of the Tip Position in the Presence of Joint Friction written by Vicente Feliu and published by . This book was released on 1989 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report presents a new way to control the tip position of single link flexible arms when friction is present in the joint. In order to minimize the influence of the nonlinear components of this friction, the control scheme is composed of two nexted loops: an inner loop that controls the motor position, and an outer loop that controls the tip position. It is demonstrated that proper design of the inner loop of this control scheme eliminates the effects of friction in controlling the tip position, and may significantly simplify the design of the tip position controller. Three control schemes are proposed for the outer loop. All of them are based on an hybrid feedforward-feedback control scheme. The first and second schemes use only tip position feedback while the third one uses sensing of positions at several points of the beam. Performances of the three schemes are compared under the following disturbances: a) motor position perturbations, b) unmodelled dynamics, and c) changes in the payload. Experimental results are presented for the two arms described in the Part I; the three tip position control schemes are compared in both arms; and finally, conclusions are drawn.

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 836 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Technical Reports Awareness Circular TRAC written by and published by . This book was released on 1989-11 with total page 506 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Experiments in Modelling and End point Control of Two link Flexible Manipulators written by Celia Marie Oakley and published by . This book was released on 1991 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Annual Research Review written by Carnegie-Mellon University. Robotics Institute and published by . This book was released on 1989 with total page 90 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Government Reports Announcements Index written by and published by . This book was released on 1990 with total page 1208 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Adaptive Strategies for Controls of Flexible Arms written by Bau San Yuan and published by . This book was released on 1989 with total page 352 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book A New Approach to Control Single link Flexible Arms Part I Modelling and Identification in the Presence of Joint Friction written by Vicente Feliu and published by . This book was released on 1989 with total page 28 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book ROBOT2013 First Iberian Robotics Conference written by Manuel A. Armada and published by Springer Science & Business Media. This book was released on 2013-11-12 with total page 735 pages. Available in PDF, EPUB and Kindle. Book excerpt: The interest in robotics has remarkably augmented over recent years. Novel solutions for complex and very diverse application fields (exploration/intervention in severe environments, assistive, social, personal services, emergency rescue operations, transportation, entertainment, unmanned aerial vehicles, medical, etc.), has been anticipated by means of a large progress in this area of robotics. Moreover, the amalgamation of original ideas and related innovations, the search for new potential applications and the use of state of the art supporting technologies permit to foresee an important step forward and a significant socio-economic impact of advanced robot technology in the forthcoming years. In response to the technical challenges in the development of these sophisticated machines, a significant research and development effort has yet to be undertaken. It concerns embedded technologies (for power sources, actuators, sensors, information systems), new design methods, adapted control techniques for highly redundant systems, as well as operational and decisional autonomy and human/robot co-existence. This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference will be held in Madrid (28-29 November 2013), organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GTRob, Sociedade Portuguesa de Robotica (SPR), and Asociación Española de Promoción de la Investigación en Agentes Físicos (RedAF).

Download or read book Implementation of Direct Adaptive Control on Single link Flexible Arm written by Raheman Riazub Nisar and published by . This book was released on 2000 with total page 182 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Journal of Dynamic Systems Measurement and Control written by and published by . This book was released on 1992 with total page 766 pages. Available in PDF, EPUB and Kindle. Book excerpt: Publishes theoretical and applied original papers in dynamic systems. Theoretical papers present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. Applied papers include modeling, simulation, and corroboration of theory with emphasis on demonstrated practicality.

Download or read book Government Reports Annual Index written by and published by . This book was released on 1990 with total page 1102 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Adaptive Control of a Single degree of freedom Flexible Arm written by Dale R. Bailey and published by . This book was released on 1995 with total page 116 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Fractional order Systems and Controls written by Concepción A. Monje and published by Springer Science & Business Media. This book was released on 2010-09-28 with total page 430 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fractional-order Systems and Controls details the use of fractional calculus in the description and modeling of systems, and in a range of control design and practical applications. It is largely self-contained, covering the fundamentals of fractional calculus together with some analytical and numerical techniques and providing MATLAB® codes for the simulation of fractional-order control (FOC) systems. Many different FOC schemes are presented for control and dynamic systems problems. Practical material relating to a wide variety of applications is also provided. All the control schemes and applications are presented in the monograph with either system simulation results or real experimental results, or both. Fractional-order Systems and Controls provides readers with a basic understanding of FOC concepts and methods, so they can extend their use of FOC in other industrial system applications, thereby expanding their range of disciplines by exploiting this versatile new set of control techniques.

Download or read book Sensing and Control of Tip Position of a Single link Very Flexible Manipulator written by Christopher Michael Kurker and published by . This book was released on 1988 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: