Embedded Optimal Control of Robot Manipulators with Passive Joints
نویسندگان
چکیده
منابع مشابه
Control of Cooperative Manipulators with Passive Joints
The problem of the control of cooperative manipulators with passive joints and rigidly connected to a solid object is addressed in this paper. Passive joints can appear due to free-swinging joint failures or can be an intrinsic characteristic of the robots. A hybrid control of motion and squeeze force is proposed. For this purpose, a Jacobian matrix relating velocities in the actuated joints an...
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Optimal discrete-time control of linear systems has been presented already. There are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. This paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. The robot performs repetit...
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This paper studies the problem of modeling and control of multiple cooperative underactuated manipulators handling a rigid object. A single underactuated manipulator is a nonholonomic system in most cases, but cooperative underactuated manipulator systems may not. We reveal holonomic property of such a system by presenting a smooth feedback controller subject to two conditions: 1) there are not...
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optimal discrete-time control of linear systems has been presented already. there are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. this paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. the robot performs repetit...
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In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fu...
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ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2015
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2015/348178