Sensory feedback control for space manipulators.
نویسندگان
چکیده
منابع مشابه
Smooth feedback control algorithms for distributed manipulators
This paper introduces a smooth control algorithm for controlling fully actuated distributed manipulation systems that operate by frictional contact. The control law scales linearly with the number of actuators and is simple to implement. Moreover, we prove that control law has desirable robustness properties in the presence of the nonsmooth mechanics inherent in distributed manipulation systems...
متن کاملGravity-Compensated Robust Control for Micro-Macro Space Manipulators During a Rest to Rest Maneuver
Many space applications require robotic manipulators which have large workspace and are capable of precise motion. Micro-macro manipulators are considered as the best solution to this demand. Such systems consist of a long flexible arm and a short rigid arm. Kinematic redundancy and presence of unactuated flexible degrees of freedom, makes it difficult to control micro-macro manipulators. This ...
متن کاملAdaptive RBF network control for robot manipulators
TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...
متن کاملDynamic Load Carrying Capacity of Mobile-Base Flexible-Link Manipulators: Feedback Linearization Control Approach
This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...
متن کاملAn Approach to output Feedback Adaptive Control for robot manipulators
This paper presents a practical approach to output feedback adaptive control for robot manipulators. A novel approach is used to design the adaptive controller. Simulations and experimental results are used to demonstrate the effectiveness of the method. The approach to the controller design is based on ease of design and implementation and not on achieving theoretical stability results. Nevert...
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 Robotics Society of Japan
سال: 1989
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.7.6_647