Download or read book Adaptive Control in Positioning a Rigid Flexible Robot Arm written by Constantinos Mardas and published by . This book was released on 1988 with total page 168 pages. Available in PDF, EPUB and Kindle. Book excerpt: The feasibility of controlling a rigid-flexible, two links planar robot arm with an adaptive computer simulation model is investigated. The velocity curve following method was used as the adaptive control scheme. The motors acting at each joint were driven by the adaptive model. The adaptive algorithm update the states and the gain parameter of the ideal motor used in the computer model. This adaptation procedure was accomplished using only the measured angular position of the arm. The mathematical model for the proposed manipulator was derived using the Lagrangian dynamics approach. Simulation results were obtained with the manipulator performing under various conditions, by changing the load of the arm and the forces included in the environment. Keywords: Adaptive control scheme, Flexible displacement, Assumed modes, Hypothetical rigid motion, Robotics, Theses.

Download or read book Adaptive Control in Positioning a Rigid Flexible Robot Arm written by and published by . This book was released on 1988 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The feasibility of controlling a rigid-flexible, two links planar robot arm with an adaptive computer simulation model is investigated. The velocity curve following method was used as the adaptive control scheme. The motors acting at each joint were driven by the adaptive model. The adaptive algorithm update the states and the gain parameter of the ideal motor used in the computer model. This adaptation procedure was accomplished using only the measured angular position of the arm. The mathematical model for the proposed manipulator was derived using the Lagrangian dynamics approach. Simulation results were obtained with the manipulator performing under various conditions, by changing the load of the arm and the forces included in the environment. Keywords: Adaptive control scheme, Flexible displacement, Assumed modes, Hypothetical rigid motion, Robotics, Theses.

Download or read book Adaptive Control Of Robot Manipulators A Unified Regressor free Approach written by An-chyau Huang and published by World Scientific. This book was released on 2010-04-09 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.

Download or read book Adaptive Control of Flexible Joint Robots Derived from Arm Energy Considerations written by Shaheen Ahmad and published by . This book was released on 1990 with total page 23 pages. Available in PDF, EPUB and Kindle. Book excerpt: Simulations are presented to verify the validity of the control scheme. The superiority of the proposed scheme over existing rigid robot adaptive schemes is also illustrated through simulation."

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 of a Flexible Joint Robot written by Yau-Zen Chang and published by . This book was released on 1992 with total page 0 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 Space based Adaptive Robotic Arm Positioning written by Cleveland W. Donnelly and published by . This book was released on 1990 with total page 62 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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 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 Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press, Taylor & Francis Group, CRC Press is. This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Cover -- Half title -- Title Page -- Copyright page -- Table of Contents -- Preface -- 1: From MRAC to Learning-Based MPC: The Emerging Importance of Machine Learning for Control of Robot Manipulators -- 2: Discussion on Model Reference Adaptive Control of Robotic Manipulators -- 3: Data-Based Learning for Uncertain Robotic Systems -- 4: Reinforcement Learning of Robotic Manipulators -- 5: Adaptive Control for Multi-Fingered Robot Hands -- 6: Output Feedback Adaptive Control of Uncertain Dynamical Systems with Event-Triggering -- 7: Event Sampled Adaptive Control of Robot Manipulators and Mobile Robot Formations -- 8: Design, Integration and Analysis of a Hybrid Controller for Multi Degrees of Freedom Serial Mechanisms -- 9: Adaptive Control of Modular Ankle Exoskeletons in Neurologically Disabled Populations -- 10: Open Architecture High Value Added Robot Manufacturing Cells -- 11: The Adaptive Control Algorithm for Manipulators with Joint Flexibility -- 12: Unification of Bipedal Robotic Walking using Quadratic Program-based Control Lyapunov Function: Applications to Regulation of ZMP and Angular Momentum -- 13: Robust Adaptive Nonlinear Control for Robotic Manipulators with Flexible Joints -- 14: Adaptive Switching Iterative Learning Control of Robot Manipulator -- 15: Adaptive Robust Control Design for Robot Manipulators Based on Online Estimation of the Lumped Time-Varying Model Uncertainties -- 16: Evaluation of Microgenetic and Microimmune Algorithms for Solving Inverse Kinematics of Hyper-redundant Robotic Manipulators On-line -- Index

Download or read book Direct Model Reference Adaptive Control of Flexible Robotic Manipulator written by and published by . This book was released on 198? with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Adaptive Control of Flexible Systems written by Martin Richard Lambert and published by . This book was released on 1987 with total page 436 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Adaptive Control of Flexible Joint Robot Manipulators written by Fathi Ghorbel and published by . This book was released on 1991 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: The adaptive control of flexible joint robot manipulators using composite control is presented first. This slow/fast control strategy consists of a slow adaptive controller designed for a rigid robot together with a fast controller to damp the elastic oscillations of the joints. The mathematical details and rigorous stability proofs of this algorithm are presented. Using the composite Lyapunov theory for singularly perturbed systems, sufficient conditions for adaptive trajectory tracking a presented. A second approach based on the method of integral manifolds for singularly perturbed systems is presented next. The known parameter case is treated and stability analysis is included. The method of integral manifolds is then extended to the adaptive case. Sufficient conditions for adaptive trajectory tracking are presented for both the general case and a special class of robot manipulators. Finally experimental and simulation results are included to illustrate different aspects of the results including adaptive instability mechanisms.

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 Kinematic Control of Redundant Robot Arms Using Neural Networks written by Shuai Li and published by John Wiley & Sons. This book was released on 2019-02-11 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt: Presents pioneering and comprehensive work on engaging movement in robotic arms, with a specific focus on neural networks This book presents and investigates different methods and schemes for the control of robotic arms whilst exploring the field from all angles. On a more specific level, it deals with the dynamic-neural-network based kinematic control of redundant robot arms by using theoretical tools and simulations. Kinematic Control of Redundant Robot Arms Using Neural Networks is divided into three parts: Neural Networks for Serial Robot Arm Control; Neural Networks for Parallel Robot Control; and Neural Networks for Cooperative Control. The book starts by covering zeroing neural networks for control, and follows up with chapters on adaptive dynamic programming neural networks for control; projection neural networks for robot arm control; and neural learning and control co-design for robot arm control. Next, it looks at robust neural controller design for robot arm control and teaches readers how to use neural networks to avoid robot singularity. It then instructs on neural network based Stewart platform control and neural network based learning and control co-design for Stewart platform control. The book finishes with a section on zeroing neural networks for robot arm motion generation. Provides comprehensive understanding on robot arm control aided with neural networks Presents neural network-based control techniques for single robot arms, parallel robot arms (Stewart platforms), and cooperative robot arms Provides a comparison of, and the advantages of, using neural networks for control purposes rather than traditional control based methods Includes simulation and modelling tasks (e.g., MATLAB) for onward application for research and engineering development By focusing on robot arm control aided by neural networks whilst examining central topics surrounding the field, Kinematic Control of Redundant Robot Arms Using Neural Networks is an excellent book for graduate students and academic and industrial researchers studying neural dynamics, neural networks, analog and digital circuits, mechatronics, and mechanical engineering.