ITERATIVE LEARNING CONTROL OF A TWO LINK ROBOT ARM
نویسندگان
چکیده
منابع مشابه
Unfalsified Direct Adaptive Control of a Two-Link Robot Arm∗
This paper describes an application of unfalsified control theory to the design of a switching adaptive controller for a nonlinear robot manipulator. In the unfalsified control approach, candidate controllers are eliminated and discarded when their ability to meet performance goals is falsified by evolving experimental data. Switching occurs when the currently active control law is among those ...
متن کاملThe Smart Ogy Control of Two-Link Rigid Robot Arm
The smart OGY control method is proposed for two-link rigid robot arm. For this goal the Bifurcation diagram should be applied for acceptable wide range of the input amplitude. Then by using the robot arm in a chaotic amplitude range and Poincare section, the UPO's will be found. After that, the OGY rules are defined for each UPO's and the maximum changed value of amplitude for each UPO's, whic...
متن کاملLearning Feed-Forward Control for a Two-Link Rigid Robot Arm
This paper introduces a control structure which consists of a Proportional Derivative (PD) controller and a Neural Network (NN)-based Learning Feed-Forward Controller (LFFC) to a Two-Link Rigid Robot Arm. An online B-spline neural network is used because of its local weight-updating characteristic, which has the advantages of fast convergence speed and low computation complexity. The torque app...
متن کاملSimultaneous optimization of a two-link flexible robot arm
Integrated structure control design of a two-link flexible robot arm is investigated in this article. The whole arm consists of two flexible links, a fixed joint, a moving joint, and a tip load. The arm is driven by the torque motors at the two joints to reach predefined tip positions and to suppress residual flexural vibrations. The links of the arm are modeled using the finite element method ...
متن کاملTrajectory planning of a two-link rehabilitation robot arm
Abstract— In this paper, the trajectory planning of a two-link rehabilitation robot arm is addressed. Firstly, a Cartesian planning of the trajectory is defined to perform a proper motion exercise for the patient’s arm. Secondly, a trajectory planning in joint space is studied to obtain a similar Cartesian path with less computational complexity. The robot arm analyzed is the two degrees of fre...
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: MINAR International Journal of Applied Sciences and Technology
سال: 2020
ISSN: 2717-8234
DOI: 10.47832/2717-8234.4-2.8