Download or read book Adaptive Position force Control and Calibration of Robotic Manipulators as Applied to Automated Composite Tape laying written by Yixin Yao and published by . This book was released on 1988 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control for Robotic Manipulators written by Dan Zhang and published by CRC Press. This book was released on 2017-02-03 with total page 441 pages. Available in PDF, EPUB and Kindle. Book excerpt: The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Download or read book Neuro adaptive Hybrid Position force Control of Robotic Manipulators written by S. M. Ziauddin and published by . This book was released on 1994 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Journal of Engineering for Industry written by and published by . This book was released on 1993 with total page 538 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Control of Robot Manipulators written by An-Chyau Huang and published by World Scientific. This book was released on 2010 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 Dynamics and Control of Robotic Manipulators with Contact and Friction written by Shiping Liu and published by John Wiley & Sons. This book was released on 2019-02-11 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.
Download or read book Model based Adaptive Position and Force Control of Robot Manipulators written by Qing-Hu Max Meng 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 Proceedings of the USA Japan Symposium on Flexible Automation written by and published by . This book was released on 1988 with total page 580 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Force Control of Robotic Manipulators written by Pierre Tanos Nehmetallah and published by . This book was released on 2001 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents a scheme in modeling, analysis and control of robotic manipulators. The objective is to control both the end effector position and contact force, against a well pre-defined surface, despite of robot dynamic parameter uncertainty. A Lyapunov based adaptive force controller is introduced for this purpose that controls the robot in the joint space. The controller is presented in three steps. In the first step the force error was shown to be proportional to the residual force. In the Second step a composite adaptive controller is used with the focus on the convergence of the residual force. In the third step, a parameter recovery scheme was developed. This scheme is based on the generated control signal and the feedback obtained by the position, velocity, and force sensors. It allows control of the robot in the world coordinate space instead of joint space by using the recovered parameters in the inverse kinematics equations to generate the desired task trajectory in joint space.--The results demonstrated the efficiency of using adaptive force control, as robot parameters in practical applications are not exactly known, or may change with tasks.
Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1994 with total page 390 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robot Control and Calibration written by Xin Luo and published by Springer Nature. This book was released on 2023-09-25 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book mainly shows readers how to calibrate and control robots. In this regard, it proposes three control schemes: an error-summation enhanced Newton algorithm for model predictive control; RNN for solving perturbed time-varying underdetermined linear systems; and a new joint-drift-free scheme aided with projected ZNN, which can effectively improve robot control accuracy. Moreover, the book develops four advanced algorithms for robot calibration – Levenberg-Marquarelt with diversified regularizations; improved covariance matrix adaptive evolution strategy; quadratic interpolated beetle antennae search algorithm; and a novel variable step-size Levenberg-Marquardt algorithm – which can effectively enhance robot positioning accuracy. In addition, it is exceedingly difficult for experts in other fields to conduct robot arm calibration studies without calibration data. Thus, this book provides a publicly available dataset to assist researchers from other fields in conducting calibration experiments and validating their ideas. The book also discusses six regularization schemes based on its robot error models, i.e., L1, L2, dropout, elastic, log, and swish. Robots’ positioning accuracy is significantly improved after calibration. Using the control and calibration methods developed here, readers will be ready to conduct their own research and experiments.
Download or read book Kinematic Modeling Identification and Control of Robotic Manipulators written by Henry W. Stone and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this dissertation is to advance the state-of-the-art in the kinematic modeling, identification, and control of robotic manipulators with rigid links in an effort to improve robot kinematic performance. The positioning accuracy of commercially-available industrial robotic manipulators depends upon a kinematic model which describes the robot geometry in a parametric form. Manufacturing error in the machining and assembly of manipulators lead to discrepancies between the design parameters and the physical structure. Improving the kinematic perfor mance thus requires the identification of the actual kinematic parameters of each individual robot. The identified kinematic parameters are referred to as the arm signature. Existing robot kinematic models, such as the Denavit-Hartenberg model, are not directly applicable to kinematic parameter identification. In this dissertation we introduce a new kinematic model, called the 5-Model, which is applicable to kinematic parameter identification, and use it as the foundation for our development of a general technique for identifying the kinematic parameters of any robot with rigid links.
Download or read book Advances in Design Automation 1989 Mechanical systems analysis design and simulation written by Bahram Ravani and published by . This book was released on 1989 with total page 458 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book American Doctoral Dissertations written by and published by . This book was released on 1987 with total page 532 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 Adaptive Force velocity position Control with Self tuning for Robotic Manipulators by A J Koivo written by A. J. Koivo and published by . This book was released on 1985 with total page 32 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Force and Position Control of Robot Manipulators written by Doyoung Jeon and published by . This book was released on 1991 with total page 318 pages. Available in PDF, EPUB and Kindle. Book excerpt:
