Adaptive control of robot manipulator motion
نویسندگان
چکیده
منابع مشابه
Adaptive Fuzzy Sliding Mode Motion Control of Robot Manipulator
This paper describes development and implementation of a decentralized continuous sliding mode motion controller for the robot manipulators. Adaptive fuzzy logic systems (FLSs), one for each robot axis, are employed to approximate almost a whole system dynamics. The structural properties of the robot dynamics are used for division of the each FLS to three simpler subsystems. This reduces the FL...
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a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...
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Given a desired output for a class of dynamical systems, certain kinds of iterative learning control are shown to be effective in the sense that the output converges to the desired one with repeating operations. One of those methods can be applied to a robot manipulator with high nonlinearities even though its physical parameters are not known. In this case, the velocity vector of the robot mot...
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In experimental robotics, researchers may face uncertainties in parameters of a robot manipulator that they are working with. This uncertainty may be caused by deviations in the manufacturing process of a manipulator, or changes applied to manipulator in the lab for sake of experiments. Another situation when dynamical and inertial parameters of a robot are uncertain arises, is the grasping of ...
متن کاملReal-Time Population Based Optimization for Adaptive Motion Control of Robot Manipulator
A population based real-time optimization method for tuning dynamic position control parameters of robot manipulators has been proposed. Conventionally, the positional control is achieved by inverse dynamics feedforward and PID feedback controllers. The proposed method allows to tune the PID controller parameters using population based optimization methods to minimize the error while tracking a...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1990
ISSN: 1042-296X
DOI: 10.1109/70.59359