Boundary cooperative control by flexible Timoshenko arms

Adaptive Control for Multiple Cooperative Robot Arms

,2= Abstract In this paper, we address the control problem of multiple robots manipulating a load cooperatively. First we propose a controller that ensures the asymptotic convergence of the load position and the internal forces to their desired values. Next we propose an adaptive control scheme for the multi-robot system. The adaptive controller ensures the asymptotic convergence of the load po...

Riesz Basis Property of Timoshenko Beams with Boundary Feedback Control

A Timoshenko beam equation with boundary feedback control is considered. By an abstract result on the Riesz basis generation for the discrete operators in the Hilbert spaces, we show that the closed-loop system is a Riesz system, that is, the sequence of generalized eigenvectors of the closed-loop system forms a Riesz basis in the state Hilbert space. 1. Introduction. The boundary feedback stab...

Tip Position Control Of Flexible Arms Using A Control Law . . .

Rnn-based Cooperative Motion Control of 2-dof Robot Arms

This paper presents a general recurrent neural network (RNN) model for online control of time-varying robot manipulators. The robot manipulators with different setting parameters work cooperatively on an unknown curve tracing. Each joint of the manipulator is respectively provided a learning method to optimize trajectory by the training RNN model. In this paper, the proposed RNN model shortens ...

A new approach to control single-link flexible arms

This report presents a new way to control the tip position of single-link flexible arms when friction is present in the joint. In order to minimize the influence of the nonlinear components of this friction, the control scheme is composed of two nested loops: an inner loop that controls the motor position, and an outer loop that controls the tip position. It is demonstrated that proper design o...