Trajectory control and inverse dynamics of flexible robot arms.
نویسندگان
چکیده
منابع مشابه
Inversion techniques for trajectory control of flexible robot arms
A general framework is given for computing the torques that are needed for moving a flexible arm exactly along a given trajectory. This torque computation requires a dynamic generator system, as opposed to the rigid case, and can be accomplished both in an openor in a cbsed-loop fashion. In the open-loop case, the dynamic generator is the full or reduced order inverse system associated to the a...
متن کاملInverse Dynamics and Fuzzy Repetitive Learning Flexible Robot Control
Tracking of a square trajectory 12.6 m x 12.6 m by a two-link flexible robot manipulator is performed repetitively for both inverse dynamics control (IDC) and fuzzy logic control (FLC). Repetitive learning inverse dynamics control (RLIDC) achieves no improvement in tracking but repetitive learning fuzzy logic control (RLFLC) achieves greater precision where cyclic tracking enables the fuzzy inf...
متن کاملOverwhelming Trajectory Control of Flexible Space Robot
This paper presents a trajectory tracking control method for flexible space robot. The advantage of the method is that it is free from spill-over instability as it uses a robust overwhelming trajectory controller. The proposed controller is conceptualized for a single rotational degree of freedom case. The efficacy of the scheme is illustrated by simulation results. The stability analysis of th...
متن کاملAdaptive Inverse Control of Flexible Link Robot Using ANFIS Based on Type-2 Fuzzy
This paper presents a novel adaptive neuro-fuzzy inference system based on interval Gaussian type-2 fuzzy sets in the antecedent part and Gaussian type-1 fuzzy sets as coefficients of linear combination of input variables in the consequent part. The capability of the proposed ANFIS2 for function approximation and dynamical system identification is remarkable. The structure of ANFIS2 is very sim...
متن کاملFlexible Objects Vibration Control and Handling Using Dd Robot Arms
This paper addresses issue of flexible object manipulation by using robot arms. The main objective is to establish a suitable control system of the robot for performing flexible object manipulation tasks. A force sensor equipped at the wrist of the robot arm is used to measure the vibration of the flexible object. A vibration control scheme is designed based on linear feedback of vibration meas...
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: 1988
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.6.5_448