منابع مشابه
End-Effector Trajectory Tracking Control of a Parallel Flexible Manipulator
End-effector trajectory tracking of flexible multibody systems is often a challenging task. This is due to the fact that flexible multibody systems possess less control inputs than degrees of freedom, i.e. they are underactuated. Thus, classical approaches known from fully actuated systems cannot be applied. The complexity might be further increased, if the multibody system includes additional ...
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The authors propose a method of controlling the position of a manipulator with passive joints which have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In this paper, the effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is a two degre...
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This paper describes a vision-guided manipulation algorithm that improves arm endeffector positioning to subpixel accuracy and meets the highly restrictive imaging and computational constraints of a planetary robotic flight system. Analytical, simulationbased, and experimental analyses of the algorithm’s effectiveness and sensitivity to camera and arm model error is presented along with results...
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The use of a robust position controller for a robotic manipulator moving in free space is presented. The aim is to implement in practice a controller that is robust to uncertainties in the model of the system, as well as being inexpensive from a computational point of view. Variable structure theory provides the technique for the design of such controller. The design steps are presented, first ...
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ژورنال
عنوان ژورنال: Procedia Engineering
سال: 2012
ISSN: 1877-7058
DOI: 10.1016/j.proeng.2012.09.571