منابع مشابه
ANFIS+PID Hybrid Controller Design for Controlling of a 6-DOF Robot Manipulator and its Error Convergence Analysis
In this paper, an ANFIS+PID hybrid control policy has been addressed to control a 6-degree-of freedom (6-DOF) robotic manipulator. Then its error convergence has been also evaluated. The ability to formulate and estimate the system uncertainties and disturbances along with system dynamics and rejecting the disturbances effect are some advantages of the proposed method in comparing with the co...
متن کاملKineto-Elasto Dynamic Analysis of Robot Manipulator Puma-560
Current industrial robots are made very heavy to achieve high Stiffness which increases the accuracy of their motion. However this heaviness limits the robot speed and in masses the required energy to move the system. The requirement for higher speed and better system performance makes it necessary to consider a new generation of light weight manipulators as an alternative to today's massive in...
متن کاملadaptive fuzzy control of a mobile manipulator robot
a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...
متن کاملDynamic Modeling of a Robot Manipulator for Opening the Tap Hole of an Electric Arc Furnace
The electric arc furnace (EAF) is used to produce high quality steel from steel scraps. The EAF uses plasma arc to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal should be drained from the tap hole. Manual tapping operation of the EAF in the hot environment around the furnace is a potentially dangerous and time consuming task for the workers. Therefore, it is ess...
متن کاملRobot Manipulator Using a Vision-based Human–manipulator Interface
It is much useful of the unstructured environment which the objects in it are unfamiliar to use human-robot interaction in remote teleoperation of robot manipulator. Traditionally, contacting mechanical devices under the interactive method can restrict the operator’s motion. While camera-based tracking has the benefit of being non-contacting, previous vision-based approaches have used only few ...
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 Japan Society for Precision Engineering
سال: 1986
ISSN: 1882-675X,0912-0289
DOI: 10.2493/jjspe.52.1309