Download or read book Robust Nonlinear Control of Robot Manipulators written by Biniam Weldai Bekit and published by . This book was released on 2000 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Nonlinear Control of Vehicles and Robots written by Béla Lantos and published by Springer Science & Business Media. This book was released on 2010-12-01 with total page 479 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.
Download or read book Decentralized PD and Robust Nonlinear Control of Robot Manipulators written by Ming Liu and published by . This book was released on 1996 with total page 18 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 Neural Network Control Of Robot Manipulators And Non Linear Systems written by F W Lewis and published by CRC Press. This book was released on 1998-11-30 with total page 470 pages. Available in PDF, EPUB and Kindle. Book excerpt: There has been great interest in "universal controllers" that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics. The first chapter provides a background on neural networks and the second on dynamical systems and control. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.
Download or read book Differential Neural Networks for Robust Nonlinear Control written by Alexander S. Poznyak and published by World Scientific. This book was released on 2001 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with continuous time dynamic neural networks theory applied to the solution of basic problems in robust control theory, including identification, state space estimation (based on neuro-observers) and trajectory tracking. The plants to be identified and controlled are assumed to be a priori unknown but belonging to a given class containing internal unmodelled dynamics and external perturbations as well. The error stability analysis and the corresponding error bounds for different problems are presented. The effectiveness of the suggested approach is illustrated by its application to various controlled physical systems (robotic, chaotic, chemical, etc.). Contents: Theoretical Study: Neural Networks Structures; Nonlinear System Identification: Differential Learning; Sliding Mode Identification: Algebraic Learning; Neural State Estimation; Passivation via Neuro Control; Neuro Trajectory Tracking; Neurocontrol Applications: Neural Control for Chaos; Neuro Control for Robot Manipulators; Identification of Chemical Processes; Neuro Control for Distillation Column; General Conclusions and Future Work; Appendices: Some Useful Mathematical Facts; Elements of Qualitative Theory of ODE; Locally Optimal Control and Optimization. Readership: Graduate students, researchers, academics/lecturers and industrialists in neural networks.
Download or read book Social Robotics written by Haizhou Li and published by Springer Science & Business Media. This book was released on 2010-11-05 with total page 424 pages. Available in PDF, EPUB and Kindle. Book excerpt: The papers in this volume were the fruitful scientific results of the Second International Conference on Social Robotics (ICSR), held during November 23–24, 2010 in Singapore, which was jointly organized by the Social Robotics Laboratory (SRL), Interactive Digital Media Institute (IDMI), the National University of Singapore and 2 Human Language Technology Department, the Institute for Infocomm Research (I R), A*STAR, Singapore. These papers address a range of topics in social robotics and its applications. We received paper submissions from America, Asia, and Europe. All the papers were reviewed by at least three referees from the 32-member Program Committee who were assembled from the global community of social robotics researchers. This v- ume contains the 42 papers that were selected to report on the latest developments and studies of social robotics in the areas of human––robot interaction; affective and cognitive sciences for interactive robots; design philosophies and software archit- tures for robots; learning, adaptation and evolution of robotic intelligence; and mec- tronics and intelligent control.
Download or read book Robust Nonlinear Decentralized Control of Robot Manipulators written by Ronald Jimenez and published by . This book was released on 1991 with total page 98 pages. Available in PDF, EPUB and Kindle. Book excerpt: A new decentralized nonlinear controller for Robot Manipulators is presented in this thesis. Based on concepts of Lyapunov stability theory and some control ideas proposed in [3]-[7], we obtain continuous nonlinear decentralized control laws which guarantee position and velocity tracking to within an arbitrarily small error. Assumptions based on physical constraints of manipulators are made to guarantee the existence of the controller and asymptotic stability of the closed loop system. Simulations show how well this rather simple control scheme works on two of the links of the Puma 560 Manipulator. The main contribution of this thesis is that it extends the results of a class of complex centralized control algorithms to the decentralized robust control of interconnected nonlinear subsystems like robot manipulators.
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 0 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 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 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 Robust Nonlinear Tracking Control of Robotic Manipulators written by Liqun Yao and published by . This book was released on 1999 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robust Tracking Control of Robot Manipulators written by Zhihua Qu and published by . This book was released on 1996 with total page 276 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 Modeling and Nonlinear Robust Control of Delta Like Parallel Kinematic Manipulators written by Jonatan Martin Escorcia Hernandez and published by Elsevier. This book was released on 2022-11-29 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modeling and Nonlinear Robust Control of Delta-Like Parallel Kinematic Manipulators deals with the modeling and control of parallel robots. The book's content will benefit students, researchers and engineers in robotics by providing a simplified methodology to obtain the dynamic model of parallel robots with a delta-type architecture. Moreover, this methodology is compatible with the real-time implementation of model-based and robust control schemes. And, it can easily extend the proposed robust control solutions to other robotic architectures. Introduces a novel parallel robot designed for machining operations called SPIDER4 Presents a mathematical formulation of the kinematic and dynamic models of SPIDER4 Offers validation of the computed mathematical models and designed controllers through real-time experiments under different operating conditions
Download or read book Nonlinear Control of Robots and Unmanned Aerial Vehicles written by Ranjan Vepa and published by CRC Press. This book was released on 2016-10-14 with total page 563 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.
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
