Iterative Learning Control for Optimal Trajectory in Robotic Manipulator
نویسندگان
چکیده
منابع مشابه
Model Free Adaptive Control for Robotic Manipulator Trajectory Tracking
This paper considers the problem of trajectory tracking of robotic manipulator system by using model free adaptive control (MFAC). The dynamic linearization technique is first introduced, and then the controller can be designed only by I/O data of the robotic manipulator system via MFAC approach, not includes any explicit model information. With some given conditions for controller parameters, ...
متن کاملTrajectory Control of Two Link Robotic Manipulator Using Pid
This paper presents the design and implementation of PID controller for the general form of two-link planar robotic manipulator. Also for comparative analysis, proportional-derivative (PD), is implemented on the same system under same conditions. The comparative analysis of the results demonstrates that the PID controller is best among all the conventional controllers and the simulation results...
متن کاملOptimal Control of Robotic Manipulator for Laser Cutting Applications
The paper focuses on the enhancement of automatic robot programming techniques for laser cutting application. Its particular contribution lies in the area of multiobjective optimization of robot motions via graph representation of the search space and the dynamic programming procedures. It have been developed algorithms that allow to generate smooth manipulator trajectories within acceptable ti...
متن کاملOptimal Trajectory of Flexible Manipulator with Maximum Load Carrying Capacity
In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...
متن کاملOptimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Spatial Obstacle Avoidance
Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
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: Transactions of the Society of Instrument and Control Engineers
سال: 1988
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.24.837