Download or read book Robust Robot Manipulator Control Using Hybrid H Infinity Adaptive Controller Structures written by 譚漢雄 and published by Open Dissertation Press. This book was released on 2017-01-27 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation, "Robust robot-manipulator control using hybrid H-infinity/adaptive controller structures" by 譚漢雄, Hon-hung, Tam, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation. All rights not granted by the above license are retained by the author. DOI: 10.5353/th_b3121992 Subjects: Manipulators (Mechanism) Robots, Industrial

Download or read book Robust Robot manipulator Control Using Hybrid H infinity adaptive Controller Structures written by Hon-hung Tam and published by . This book was released on 1998 with total page 250 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 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 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 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 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 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 A Robust Adaptive Controller for Robot Manipulators written by Harry Berghuis and published by . This book was released on 1991 with total page 20 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1989 with total page 988 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.

Download or read book A Fast Trajectory Tracking Adaptive Controller for Robot Manipulators written by Shinsuke Tagami and published by . This book was released on 1993 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: An adaptive decentralized nonlinear controller for a robot manipulator is presented in this thesis. Based on the adaptive control schemes designed by Seraji [18], Dai [30], and Jimenez [31], we redesigned and further simplified the control algorithm and, as a consequence, we achieved better path tracking performance. The proposed adaptive controller is made of a PD feedback controller which has time varying gains, a feedforward compensator based on the idea of inverse dynamics, and an auxiliary signal. Due to its adaptive structure, the controller shows robustness against disturbances and unmodeled dynamics. In order to ensure asymptotic tracking we select a Lyapunov function such that the controller forces the negative definiteness of the time derivative of such a Lyapunov function. To do this, the tracking position and velocity error are penalized and used as a part of the adaptive control gain. The main advantages of this scheme are the comparably faster convergence of tracking error, relatively simpler structure, and smoother control activity. This controller only requires the position and angular speed measurement, it does not require any knowledge about the mathematical model of the robot manipulator. Simulation shows the capacity of this controller and its robustness against disturbances.

Download or read book International Aerospace Abstracts written by and published by . This book was released on 1999 with total page 974 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Control of Flexible link Manipulators Using Nonlinear H infinity Techniques written by Mohammad J. Yazdanpanah and published by . This book was released on 1997 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 456 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Switching Adaptive Control of Robot Manipulators written by Mansour Kabganian and published by . This book was released on 1994 with total page 163 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Adaptive Control of a Manipulator with a Flexible Link written by Institute for Computer Applications in Science and Engineering and published by . This book was released on 1988 with total page 24 pages. Available in PDF, EPUB and Kindle. Book excerpt: An adaptive controller for a manipulator with one rigid link and one flexible link is presented. The performance and robustness of the controller are demonstrated by numerical simulation results. In the simulations, the manipulator moves in a gravitational field and a finite element model represents the flexible link. Keywords: Adaptive control, Robot, Flexible link.

Download or read book Applied Mathematics and Computational Intelligence written by Oscar Castillo and published by Springer Nature. This book was released on 2023-05-23 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains select papers presented at the International Conference on Applied Mathematics and Computational Intelligence (ICAMCI-2020), held at the National Institute of Technology Agartala, Tripura, India, from 19–20 March 2020. It discusses the most recent breakthroughs in intelligent techniques such as fuzzy logic, neural networks, optimization algorithms, and their application in the development of intelligent information systems by using applied mathematics. The book also explains how these systems will be used in domains such as intelligent control and robotics, pattern recognition, medical diagnosis, time series prediction, and complicated problems in optimization. The book publishes new developments and advances in various areas of type-3 fuzzy, intuitionistic fuzzy, computational mathematics, block chain, creak analysis, supply chain, soft computing, fuzzy systems, hybrid intelligent systems, thermos-elasticity, etc. The book is targeted to researchers, scientists, professors, and students of mathematics, computer science, applied science and engineering, interested in the theory and applications of intelligent systems in real-world applications. It provides young researchers and students with new directions for their future study by exchanging fresh thoughts and finding new problems.