Adaptive robust control and admittance control for contact-driven robotic surface conditioning
نویسندگان
چکیده
منابع مشابه
Designing a Robust Control Scheme for Robotic Systems with an Adaptive Observer
This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...
متن کاملAn Adaptive Admittance or Force Control for Robotic Manipulators
In this paper an adaptive compliant motion control is presented for either constant admittance or constant force mode of operation. From a desired trajectory of the admittance and virtual position in the task space, a virtual trajectory is generated to follow the desired admittance. We are talking about admittance because at the interaction port of the end effector the force is measured and a g...
متن کاملDynamic modeling and control of a 4 DOF robotic finger using adaptive-robust and adaptive-neural controllers
In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...
متن کاملUnified Contact Force Control Approach for Cable-driven Parallel Robots using an Impedance/Admittance Control Strategy
In this paper a unified contact force control approach for cable-driven parallel robots (CDPR) is proposed. The contact force controller is governed by two control loops: 1) An inner impedance control loop enforcing a dynamical relationship between the internal forces and the end-effector velocities to maintain a desired tension level in the cable system. 2) An outer admittance control loop con...
متن کاملCoordinated Control of a Tractor-Trailer and a Combine Harvester by Neural Adaptive Robust Control
In this paper, the coordinated control problem of a tractor-trailer and a combine harvester is taken into account in the presence of model uncertainties by using the leader-following approach to track a reference trajectory for the first time. At first, a second-order leader-follower dynamic model is developed in Euler-Lagrange form which preserves all structural properties of the dynamic model...
متن کاملذخیره 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: Robotics and Computer-Integrated Manufacturing
سال: 2018
ISSN: 0736-5845
DOI: 10.1016/j.rcim.2018.05.003