Download or read book Fuzzy Optimal Control for Robot Manipulators written by Basil M. Al-Hadithi and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A robust FC-LQR for the control of a robotic system has been designed. The main idea is to design a supervisory fuzzy controller capable to adjust the controller parameters in order to obtain the desired axes positions under variations of the robot parameters and payload variations. The motivation behind this scheme is to combine the best features of fuzzy control and that of the optimal LQR. Both the controlled system and the fuzzy controller are represented by the affine T-S fuzzy model taking into consideration the effect of the constant term. In the case of fuzzy control, the fuzzy system is resulted from blending all the sub-systems. The blending of the independent term of each rule will no longer be a constant but a function of the variables of the system and thus affects the dynamics of the resultant system. A necessary condition has been added to deal with the independent term. In this chapter, we have demonstrated that the LQR, can be made more appropriate for actual implementation by introduction of fuzzy rules. The results obtained show a robust and stable behavior when the system is subjected to various initial conditions, moment of inertia and to disturbances.

Download or read book Robot Manipulators written by Alex Lazinica and published by BoD – Books on Demand. This book was released on 2010-04-01 with total page 732 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot manipulators are developing more in the direction of industrial robots than of human workers. Recently, the applications of robot manipulators are spreading their focus, for example Da Vinci as a medical robot, ASIMO as a humanoid robot and so on. There are many research topics within the field of robot manipulators, e.g. motion planning, cooperation with a human, and fusion with external sensors like vision, haptic and force, etc. Moreover, these include both technical problems in the industry and theoretical problems in the academic fields. This book is a collection of papers presenting the latest research issues from around the world.

Download or read book Robotic Manipulators and Vehicles written by Gerasimos Rigatos and published by Springer. This book was released on 2018-05-24 with total page 759 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph addresses problems of: • nonlinear control, estimation and filtering for robotic manipulators (multi-degree-of freedom rigid-link robots, flexible-link robots, underactuated, redundant and cooperating manipulators and closed-chain robotic mechanisms); and• nonlinear control, estimation and filtering for autonomous robotic vehicles operating on the ground, in the air, and on and under water, independently and in cooperating groups. The book is a thorough treatment of the entire range of applications of robotic manipulators and autonomous vehicles. The nonlinear control and estimation methods it develops can be used generically, being suitable for a wide range of robotic systems. Such methods can improve robustness, precision and fault-tolerance in robotic manipulators and vehicles at the same time as enabling the reliable functioning of these systems under variable conditions, model uncertainty and external perturbations.

Download or read book Intelligent Optimal Position Control for Robot Manipulator written by Rong-Jong Wai and published by . This book was released on 2018 with total page 21 pages. Available in PDF, EPUB and Kindle. Book excerpt: An intelligent optimal control system is proposed for the tracking control of an n-link robot manipulator to achieve high-precision position control. In the intelligent optimal control system, a fuzzy neural network (FNN) controller is used to learn a nonlinear function in the optimal control law, and a robust controller is designed to compensate the shortcoming of the FNN controller for further assuring the stable control performance. Moreover, an adaptive bound estimation algorithm is employed to estimate the upper bound of uncertainties. All adaptive learning algorithms in the intelligent optimal control system are derived in the sense of optimal control technique and Lyapunov stability analysis, so that system-tracking stability can be guaranteed in the closed-loop system whether the uncertainties occur or not. Numerical simulations of a three-link SCARA robot verify the validity of the proposed control strategy under the possible presence of uncertainties.

Download or read book Nonlinear Optimal Control for Robot Manipulators written by Aysin Yeltekin and published by . This book was released on 1989 with total page 15 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robot Manipulators written by Agustin Jimenez and published by BoD – Books on Demand. This book was released on 2010-03-01 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.

Download or read book Optimal Control of Robotic Manipulators written by James Edwin Bobrow and published by . This book was released on 1982 with total page 104 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Incremental Optimal Control for Robot Manipulators A Robust and Optimal Control Framework written by Yongchao Wang and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Intelligent Control of Robotic Systems written by Laxmidhar Behera and published by CRC Press. This book was released on 2020-04-07 with total page 675 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book illustrates basic principles, along with the development of the advanced algorithms, to realize smart robotic systems. It speaks to strategies by which a robot (manipulators, mobile robot, quadrotor) can learn its own kinematics and dynamics from data. In this context, two major issues have been dealt with; namely, stability of the systems and experimental validations. Learning algorithms and techniques as covered in this book easily extend to other robotic systems as well. The book contains MATLAB- based examples and c-codes under robot operating systems (ROS) for experimental validation so that readers can replicate these algorithms in robotics platforms.

Download or read book Advanced Studies of Flexible Robotic Manipulators written by Fei-Yue Wang and published by World Scientific. This book was released on 2003 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators. Sample Chapter(s). Chapter 1: Flexible-link Manipulators: Modeling, Nonlinear Control and Observer (235 KB). Contents: Flexible-Link Manipulators: Modeling, Nonlinear Control and Observer (M A Arteaga & B Siciliano); Energy-Based Control of Flexible Link Robots (S S Ge); Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials (O Al-Jarrah et al.); Force Control of Flexible Manipulators (F Matsuno); Experimental Study on the Control of Flexible Link Robots (D Wang); Sensor Output Feedback Control of Flexible Robot Arms (Z-H Luo); On GA Based Robust Control of Flexible Manipulators (Z-Q Xiao & L-L Cui); Analysis of Poles and Zeros for Tapered Link Designs (D L Girvin & W J Book); Optimum Shape Design of Flexible Manipulators with Tip Loads (J L Russell & Y-Q Gao); Mechatronic Design of Flexible Manipulators (P-X Zhou & Z-Q Xiao); A Comprehensive Study of Dynamic Behaviors of Flexible Robotic Links: Modeling and Analysis (Y-Q Gao & F-Y Wang). Readership: Researchers, lecturers and graduate students in robotics & automated systems, electrical & electronic engineering, and industrial engineering

Download or read book Optimal Control of Robotic Manipulators written by Allon Guez and published by . This book was released on 1983 with total page 436 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Control of Robot Manipulators written by Frank L. Lewis and published by MacMillan Publishing Company. This book was released on 1993 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book High level Feedback Control With Neural Networks written by Young Ho Kim and published by World Scientific. This book was released on 1998-09-28 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: Complex industrial or robotic systems with uncertainty and disturbances are difficult to control. As system uncertainty or performance requirements increase, it becomes necessary to augment traditional feedback controllers with additional feedback loops that effectively “add intelligence” to the system. Some theories of artificial intelligence (AI) are now showing how complex machine systems should mimic human cognitive and biological processes to improve their capabilities for dealing with uncertainty.This book bridges the gap between feedback control and AI. It provides design techniques for “high-level” neural-network feedback-control topologies that contain servo-level feedback-control loops as well as AI decision and training at the higher levels. Several advanced feedback topologies containing neural networks are presented, including “dynamic output feedback”, “reinforcement learning” and “optimal design”, as well as a “fuzzy-logic reinforcement” controller. The control topologies are intuitive, yet are derived using sound mathematical principles where proofs of stability are given so that closed-loop performance can be relied upon in using these control systems. Computer-simulation examples are given to illustrate the performance.

Download or read book Time Optimal Control of Robotic Manipulators written by Zvi Shiller and published by . This book was released on 1987 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Implementation of Time optimal Control for Robotic Manipulators written by Hsueh-Hen Lu and published by . This book was released on 1990 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robot Manipulator Control written by Frank L. Lewis and published by CRC Press. This book was released on 2003-12-12 with total page 646 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.

Download or read book Review of the Literature on Time optimal Control of Robotic Manipulators written by Milŏs Z̆efran and published by . This book was released on 1994 with total page 28 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "A task that robotic manipulators most frequently perform is motion between specified points in the working space. It is therefore important that these motions are efficient. The presence of the obstacles and other requirements of the task often require that the path is specified in advance. Robot actuators cannot generate unlimited forces/torques so it is reasonable to ask how to traverse the prespecified path in minimum time so that the limits on the actuator torques are not violated. It can be shown that the motion which requires least time to traverse a path requires at least one actuator to operate on the boundary (maximum or minimum). Furthermore, if the path is parameterized, the equations describing the robot dynamics can be rewritten as functions of the path parameter and its first and second derivatives. In general, the actuator bounds will be transformed into the bounds on the acceleration along the path. These bounds will be functions of the velocity and position. It is possible to demonstrate that the optimal motion will be almost always bang-bang in acceleration. The task of finding the optimal torques thus reduces to finding the instants at which the acceleration will switch between the boundaries. An algorithm for finding the time- optimal motion along prespecified paths that explores this idea will be presented. It will be shown that so called singular arcs exist on which the algorithm will fail. Modification of the algorithm for such situations will be presented. Also, some properties of the solutions of the more general problem when the path is not known will be discussed. Lie- algebraic techniques will be shown to a convenient tool for the study of such problems."