Control of Redundant Space Manipulator Using New Sliding Mode.
نویسندگان
چکیده
منابع مشابه
Control of a Flexible Manipulator Using a Sliding Mode Controller with Genetic Algorithm Tuned Manipulator Dimension
The tip position control of a single-link flexible manipulator is considered in this paper. The cross-sectional dimension of the manipulator is tuned by genetic algorithms such that the first vibration mode dominates the higher order vibrations. A sliding mode controller of reduced dimension is employed to control the manipulator using the rigid and vibration measurements as feedback. Control e...
متن کاملSliding Mode Control of a Shape Memory Alloy Actuated Manipulator
This paper presents a two-part controller that uses a state variable estimator for control of a single degree of freedom rotary manipulator actuated by Shape Memory Alloy (SMA) wire. A model for the SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive model of the Shape Memory Alloy, and the electrical and heat transfer behavior of SMA ...
متن کاملGenetic Algorithm of Sliding Mode Control Design for Manipulator Robot
The dynamical model of manipulator robot is represented by equations systems which are nonlinear and strongly coupled. Furthermore, the inertial parameters of manipulator depend on the payload which is often unknown and variable. The sliding mode controller (SMC) provides an effective and robust means of controlling nonlinear plants. The performance of SMC depends on control parameter selection...
متن کاملAdaptive 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...
متن کاملDynamic Sliding Mode Control of Nonlinear Systems Using Neural Networks
Dynamic sliding mode control (DSMC) of nonlinear systems using neural networks is proposed. In DSMC the chattering is removed due to the integrator which is placed before the input control signal of the plant. However, in DSMC the augmented system is one dimension bigger than the actual system i.e. the states number of augmented system is more than the actual system and then to control of such ...
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: Journal of the Robotics Society of Japan
سال: 1991
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.9.821