Trajectory control of manipulator using position command only.

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Trajectory 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 کامل

Quaternion-based Coordinated Control of a Subsea Mobile Manipulator with Only Position Measurements

A control scheme for the coordinated control of a Sub-sea vehicle/manipulator system is presented. The unit quaternion representation is used in a singularity free representation of the attitude. The control scheme is formulated in a 12 d.o.f. task space and only position measurements are required. The performance is evaluated by simulation with a realistic model of a commercial underwater vehi...

متن کامل

Manipulator trajectory planning using a MOEA

Generating manipulator trajectories considering multiple objectives and obstacle avoidance is a non-trivial optimization problem. In this paper a multi-objective genetic algorithm based technique is proposed to address this problem. Multiple criteria are optimized considering up to five simultaneous objectives. Simulation results are presented for robots with two and three degrees of freedom, c...

متن کامل

Global stabilization of underactuated spring-coupled three-link horizontal manipulator using position measurements only

This paper concerns the global stabilization of an underactuated spring-coupled three-link horizontal manipulator (STHM), which is an underactuated mechanical system (UMS) with two actuators and three degrees of freedom (DOF). A new control method is developed that asymptotically stabilizes the STHM at the origin using the position measurements of the manipulator only. First, we introduce a hom...

متن کامل

Optimal 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 کامل

ذخیره 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: IEEJ Transactions on Industry Applications

سال: 1990

ISSN: 0913-6339,1348-8163

DOI: 10.1541/ieejias.110.850