نتایج جستجو برای: cooperative robots adaptive robust control scheme 5 dof robot manipulators trajectory tracking

تعداد نتایج: 3088965  

Journal: :International Journal of Automation and Smart Technology 2017

2001
Jaydeep Roy Louis L. Whitcomb

This paper addresses the problem of achieving exact dynamic force control with manipulators possessing the low-level position and/or velocity controllers typically employed in industrial robot arms. Previously reported approaches and experimental results are reviewed. A new adaptive force control algorithm for velocity/position controlled robot arms in contact with surfaces of unknown linear co...

Journal: :journal of artificial intelligence and data mining 0
m. moradizirkohi department of electrical engineering, behbahan khatam alanbia university of technology, behbahan, iran. s. izadpanah department of electrical engineering, behbahan khatam alanbia university of technology, behbahan, iran.

in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

2007
Diego E. Pardo Cecilio Angulo

This paper describes a collaborative control scheme that governs the dynamic behavior of an articulated mobile robot with several degrees of freedom (DOF) and redundancies. These types of robots need a high level of coordination between the motors performance to complete their motions. In the employed scheme, the actuators involved in a specific task share information, computing integrated cont...

Journal: :international journal of robotics 0
s. firouzy iran university of science and technology m. h. korayem iran university of science and technology

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 ...

2004
Z. Qu R. Johnson

A robust fuzzy control is developed for robot manipulators to guarantee both global stability and Performance. Robot dynamics under consideration may include large nonlinear uncertainties, such as nonlinear load variations and unmodelled dynamics. Fuzzy sets are chosen based on performance requirements and stability regions of the control system. For each fuzzy set, a sub-control is designed, b...

2014
Kim Doang Nguyen Harry Dankowicz

This paper develops an adaptive controller for robot manipulators. The design decouples the system’s adaptation and control loops to allow for fast estimation rates, while guaranteeing robustness. The control scheme is tested in different manipulation scenarios, namely, (i) trajectory tracking where the desired joint motions are predefined and (ii) command following where the desired motions ar...

2011
Recep BURKAN

In this paper, a parameter and uncertainty bound estimation functions for adaptive-robust control of robot manipulators are developed. A Lyapunov function is defined and parameters and uncertainty bound estimation functions are developed based on the Lyapunov function. Thus, stability of an uncertain system is guaranteed and uniform boundedness of the tracking error is achieved. As distinct fro...

This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...

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