منابع مشابه
Distributed Digital Control of a Robot Arm
Most robot arms use a central control box that contains the power electronics, .. the motor controllers and the coordinating computer. This paper presents a distributed control network that allows the power electronics and motor controllers to be placed adjacent to the motors. Each controller uses a DSP for all motor control w~th the individual controllers communicating wIth each other and a ho...
متن کاملA New Type-2 Fuzzy Systems for Flexible-Joint Robot Arm Control
In this paper an adaptive neuro fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part is presented. The capability of the proposed method (we named ANFIS2) to function approximation and dynamical system identification is shown. The ANFIS2 structure ...
متن کاملControl of Flexible Robot Arm
T h i s work is a computer simulation of the control of flexi ble robot arm. The dynamic equations for a single-link flexible robot arm have been derived rigorously. Th is arm has two degrees of freedom in rotation and one in translation so that the workspdce i s three-dimensional. The payload is simulated by attaching additional mass to the arm at a specified location. The governing equations ...
متن کاملControl of a Flexible Robot Arm
We model a exible robot arm supported at a prismatic joint so the length of (the relevant part of) the rod is variable | indeed, this variation in the length of the arm is taken to be the control action. The principal results are: exact controllability for the consideration of purely longitudinal vibrations (wave equation) and the existence of optimal controls in the more practically interestin...
متن کاملBehavioral Control of a Robot Arm
Russell L. Smith Department of Electrical and Electronic Engineering, University of Auckland, Private Bag 92019, New Zealand. E-Mail: [email protected] Abstract|This paper describes a novel trainable controller which extends the feedback-error paradigm of Kawato, called an adaptive trajectory generator. The controller can be adapted so that a controlled system shows a behavior which is sp...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1990
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.56.1449