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 Optimal and Robust Control of Robot Manipulators written by Michael Thomas Grabbe and published by . This book was released on 1992 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Robust Tracking Control of Robot Manipulators written by Zhihua Qu and published by Institute of Electrical & Electronics Engineers(IEEE). This book was released on 1996 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt: Bringing together the latest research in the field, Robust Tracking Control of Robot Manipulators is the first book to provide systematic methods for stabilizing unwanted flexible, uncertain, and unmodeled dynamics. The authors present a thorough comparison of state-of-the-art and classical designs of all controls: linear or nonlinear (simple or complicated), conventional or robust, adaptive or learning. Focusing on control design and performance analysis, this book will help you to apply advanced controls effectively and to establish equivalent and different robustness. This book will be invaluable as a guide to researchers and practicing engineers in the field of robot control, automation, and robotic engineering. It will also serve as a useful reference for control of robot manipulators and mechanical-electrical systems.
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 Real time Control of Robot Manipulators in the Presence of Obstacles written by Shaygan Kheradpir and published by . This book was released on 1987 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 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 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 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 Recent Advances in Robust Control written by Andreas Müller and published by BoD – Books on Demand. This book was released on 2011-11-21 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robust control has been a topic of active research in the last three decades culminating in H_2/H_\infty and \mu design methods followed by research on parametric robustness, initially motivated by Kharitonov's theorem, the extension to non-linear time delay systems, and other more recent methods. The two volumes of Recent Advances in Robust Control give a selective overview of recent theoretical developments and present selected application examples. The volumes comprise 39 contributions covering various theoretical aspects as well as different application areas. The first volume covers selected problems in the theory of robust control and its application to robotic and electromechanical systems. The second volume is dedicated to special topics in robust control and problem specific solutions. Recent Advances in Robust Control will be a valuable reference for those interested in the recent theoretical advances and for researchers working in the broad field of robotics and mechatronics.
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 407 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 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."
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 Robust Control of Robots written by Adriano A. G. Siqueira and published by Springer Science & Business Media. This book was released on 2011-08-14 with total page 234 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robust Control of Robots bridges the gap between robust control theory and applications, with a special focus on robotic manipulators. It is divided into three parts: robust control of regular, fully-actuated robotic manipulators; robust post-failure control of robotic manipulators; and robust control of cooperative robotic manipulators. In each chapter the mathematical concepts are illustrated with experimental results obtained with a two-manipulator system. They are presented in enough detail to allow readers to implement the concepts in their own systems, or in Control Environment for Robots, a MATLAB®-based simulation program freely available from the authors. The target audience for Robust Control of Robots includes researchers, practicing engineers, and graduate students interested in implementing robust and fault tolerant control methodologies to robotic manipulators.
Download or read book Torque Optimization for Robust Control of Robot Manipulators written by Mark W. Spong and published by . This book was released on 1984 with total page 16 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Quadratic Optimal Control of a Two flexible link Robot Manipulator written by A. S. Morris and published by . This book was released on 1995 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
