Advanced Control Methodologies in Parallel Robotic Systems
نویسنده
چکیده
Recent demands in robotics accelerated the growth of high precision technology using parallel mechanism in various applications such as medicine, environmental investigations, industry, inteligent systems etc. Maintaining the desired dynamic behavior of systems in the face of perturbations and other uncertainties has become the ultimate goal in stability of robotic systems, [1]. In some robotic systems the external disturbances cannot be accurately predicted. However, the appropriately chosen parameters can be kept inside acceptable boundaries.
منابع مشابه
Dual Space Control of a Deployable Cable Driven Robot: Wave Based Approach
Known for their lower costs and numerous applications, cable robots are an attractive research field in robotic community. However, considering the fact that they require an accurate installation procedure and calibration routine, they have not yet found their true place in real-world applications. This paper aims to propose a new controller strategy that requires no meticulous calibration and ...
متن کاملPD Controller Design with H¥ Performance for Linear Systems with Input Delay
This paper presents H∞ control problem for input-delayed systems. A neutral system approach is considered to the design of PD controller for input delay systems in presence of uncertain time-invariant delay. Using this approach, the resulting closed-loop system turns into a specific time-delay system of neutral type. The significant specification of this neutral system is that its delayed coeff...
متن کاملR 3 - COP Resilient Reasoning Robotic Co - operating Systems Extended
The ARTEMIS-project R3-COP aims at providing European industry with methodologies and technologies to enable production of advanced robust and safe cognitive, reasoning autonomous and co-operative robotic systems at reduced cost. Three major topics are addressed: advanced robotic capabilities, methodologies for design and development of robotic systems, and new V&V technologies for robotic feat...
متن کاملDesigning a Robust Control Scheme for Robotic Systems with an Adaptive Observer
This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کامل