Download or read book Model Reference Adaptive Control of Robots written by National Aeronautics and Space Administration (NASA) and published by Createspace Independent Publishing Platform. This book was released on 2018-07-18 with total page 110 pages. Available in PDF, EPUB and Kindle. Book excerpt: This project presents the results of controlling two types of robots using new Command Generator Tracker (CGT) based Direct Model Reference Adaptive Control (MRAC) algorithms. Two mathematical models were used to represent a single-link, flexible joint arm and a Unimation PUMA 560 arm; and these were then controlled in simulation using different MRAC algorithms. Special attention was given to the performance of the algorithms in the presence of sudden changes in the robot load. Previously used CGT based MRAC algorithms had several problems. The original algorithm that was developed guaranteed asymptotic stability only for almost strictly positive real (ASPR) plants. This condition is very restrictive, since most systems do not satisfy this assumption. Further developments to the algorithm led to an expansion of the number of plants that could be controlled, however, a steady state error was introduced in the response. These problems led to the introduction of some modifications to the algorithms so that they would be able to control a wider class of plants and at the same time would asymptotically track the reference model. This project presents the development of two algorithms that achieve the desired results and simulates the control of the two robots mentioned before. The results of the simulations are satisfactory and show that the problems stated above have been corrected in the new algorithms. In addition, the responses obtained show that the adaptively controlled processes are resistant to sudden changes in the load. Steinvorth, Rodrigo Unspecified Center CONTROL SYSTEMS DESIGN; CONTROLLERS; MODEL REFERENCE ADAPTIVE CONTROL; ROBOT ARMS; ROBOT CONTROL; ALGORITHMS; COMPUTERIZED SIMULATION; CONTROL STABILITY; LOADS (FORCES); MATHEMATICAL MODELS...
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 Model Reference Adaptive Control of Robots written by Rodrigo Steinvorth and published by . This book was released on 1991 with total page 95 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Model Reference Adaptive Control for Robotic Manipulators written by Masaaki Hayashi and published by . This book was released on 1986 with total page 48 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Adaptive Neural Network Control of Robotic Manipulators written by Tong Heng Lee and published by World Scientific. This book was released on 1998 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction; Mathematical background; Dynamic modelling of robots; Structured network modelling of robots; Adaptive neural network control of robots; Neural network model reference adaptive control; Flexible joint robots; task space and force control; Bibliography; Computer simulation; Simulation software in C.
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 Model Reference Adaptive Control MRAC with Applications to Robotics written by Ricky Yin Jun Tam and published by . This book was released on 1992 with total page 508 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Discrete time Explicit Model Reference Adaptive Control for Robotic Manipulators written by Junku Yuh and published by . This book was released on 1986 with total page 326 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this dissertation a direct approach to discrete-time model reference adaptive control (MRAC) based on hyperstability theory is proposed to control industrial robotic manipulators. For industrial robots and manipulators, which usually have highly nonlinear and complex dynamic equations and often have unknown inertia characteristics, it is very difficult to achieve high performance with conventional control strategies. This desired high performance in terms of speed and accuracy can be obtained by adaptive control techniques. Considering the effects of gravity, process noise and payload uncertainty the MRAC approach is investigated using simulation for a three degree of freedom industrial robot. These simulation results show that adaptive control techniques can provide robust properties in spite of poor a priori information regarding the robot dynamics and operating circumstances.
Download or read book Exact Linearization of Robot Dynamics Using Model Reference Adaptive Control written by Ramesh Gopal Menon and published by . This book was released on 1987 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Design of Model Reference Adaptive Control for Robotic Manipulators written by Henry Richard Asare and published by . This book was released on 1986 with total page 33 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 Model Reference Adaptive Control for Robotic Manipulation with Kalman Active Observers written by Rui Cortesao and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The first part of the chapter discusses model-reference adaptive control in the framework of Kalman active observers (AOBs). The second part addresses experiments with an industrial robot. Compliant motion control with AOBs is analyzed to perform the peg-in-hole task. The AOB design is based on: 1) A desired closed loop system, corresponding to the reference model. 2) An extra equation (active state) to estimate an equivalent disturbance referred to the system input, providing a feedforward compensation action. The active state is modeled as an auto-regressive process of order N with fixed parameters (evolutions) driven by a Gaussian random source. 3) The stochastic design of the Kalman matrices (Qk and Rk) for the AOB context. Qk has a well defined structure. Most of the modeling errors are merged in the active state, therefore, the model for the other states is very accurate (the reference model has low uncertainty). The relation between Qk and Rk defines the estimation strategy, making the state estimates more or less sensitive to measures.
Download or read book Robust Direct Model Reference Adaptive Control with an Application to Robotic Contour Following written by Jih-Ning Liou and published by . This book was released on 1993 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Non Adaptive and Adaptive Control of Manipulation Robots written by M. Vukobratovic and published by Springer Science & Business Media. This book was released on 2013-12-11 with total page 394 pages. Available in PDF, EPUB and Kindle. Book excerpt: The material presented in this monograph is a logical continuation of research results achieved in the control of manipulation robots. This is in a way, a synthesis of many-year research efforts of the associates of Robotics Department, Mihailo Pupin Institute, in the field of dynamic control.of robotic systems. As in Vol. 2 of this Series, all results rely on the mathematical models of dynamics of active spatial mechanisms which offer the possibility for adequate dynamic control of manipula tion robots. Compared with Vol. 2, this monograph has three essential new character istics, and a variety of new tasks arising in the control of robots which have been formulated and solved for the first time. One of these novelties is nonadaptive control synthesized for the case of large variations in payload parameters, under the condition that the practical stability of the overall system is satisfied. Such a case of control synthesis meets the actual today's needs in industrial robot applications. The second characteristic of the monograph is the efficient adaptive control algorithm based on decentralized control structure intended for tasks in which parameter variations cannot be specified in advance. To be objective, this is not the case in industrial robotics today. Thus, nonadaptive control with and without a particular parameter variation is supplemented by adaptive dynamic control algorithms which will cer tainly be applicable in the future industrial practice when parametric identification of workpieces will be required.
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 Direct Model Reference Adaptive Control of a Flexible Robotic Manipulator written by Deirdre R. Meldrum and published by . This book was released on 1985 with total page 81 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Robot Trajectory Control with a Model Reference Adaptive Control System Using Tap Delay Filters written by Farhad Bolourchi and published by . This book was released on 1989 with total page 302 pages. Available in PDF, EPUB and Kindle. Book excerpt:
