A Control Strategy for Torque-unit Manipulators

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Adaptive RBF network control for robot manipulators

TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...

متن کامل

Tracking Control of Robot Manipulators with Bounded Torque Inputs

This paper examines the problem of link position tracking control of robot manipulators with bounded torque inputs. An adaptive, full-state feedback controller and an exact model knowledge, output feedback controller are designed to produce semi-global asymptotic link position tracking errors. Simulation results are provided to validate the theoretical concepts, and a comparative analysis demon...

متن کامل

High Performance Control of Manipulators Using Base Force/torque Sensing

Joint friction is a major problem in accurately controlling manipulators performing small precise tasks. Previously developed solutions to this problem require the use of either complex and unreliable models of the joint friction or expensive and delicate internal joint torque sensors. Here a simple, cost-effective method for compensating the effect of joint friction is proposed. It uses a six-...

متن کامل

Adaptive Computed Torque Computed Reference Control of Flexible Joint Manipulators

Manipulators are controlled to make their end-effector (Tool Centre Point) track a pre-specified trajectory in space. This goal is achieved if the actuators of the manipulator are activated appropriately. The controller, used to calculate these inputs, can have may different forms, each with its own (dis)advantages.

متن کامل

development and implementation of an optimized control strategy for induction machine in an electric vehicle

in the area of automotive engineering there is a tendency to more electrification of power train. in this work control of an induction machine for the application of electric vehicle is investigated. through the changing operating point of the machine, adapting the rotor magnetization current seems to be useful to increase the machines efficiency. in the literature there are many approaches wh...

15 صفحه اول

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Transactions of the Institute of Systems, Control and Information Engineers

سال: 2013

ISSN: 1342-5668,2185-811X

DOI: 10.5687/iscie.26.74