Adaptive control of robot manipulators

a unified regressor-free approach
  • 262 Pages
  • 2.98 MB
  • 4241 Downloads
  • English
by
World Scientific Publishing , New Jersey
Motion, Control systems, Industrial Robots, Mathematical models, Robots, Design and constru
StatementAn-Chuyau Huang, Ming-Chih Chien
ContributionsChien, Ming-Chih
Classifications
LC ClassificationsTJ211.35 .H83 2010
The Physical Object
Paginationxi, 262 p. :
ID Numbers
Open LibraryOL25560985M
ISBN 109814307416
ISBN 139789814307413
OCLC/WorldCa515478673

Adaptive Control of Robot Manipulators: A Unified Regressor-Free Approach. by An-Chyau Huang (Author), Ming-Chih Chien (Author) ISBN ISBN Why is ISBN important?Cited by: As the robotic mechanism is reconfigured, the control system has to be adapted accordingly.

The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators.

Robot Manipulator - Adaptive Adaptive control of robot manipulators book Adaptive Control of Robot Manipulator. by Ng Tian Seng (Author) ISBN ISBN Author: Tian Seng Ng.

This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic by: 5.

Adaptive Control Of Robot Manipulators Adaptive Control Of Robot Manipulators by. Download it Adaptive Control Of Robot Manipulators books also available in PDF, EPUB, and Mobi Format for read it on your Kindle device, PC, phones or tablets.

Details Adaptive control of robot manipulators FB2

This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general. This calls for the incorporation of adaptive methods whereby adaptive control is used to estimate parameters of the manipulator model recursively and use the estimates in the control scheme, e.g.

[1–5].Work in adaptive control of robot manipulators began with controlling a linear perturbed model with adaptive high gains [6–9] followed by globally convergent adaptive control results as. CRC Press, - Technology & Engineering - pages.

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2 Reviews. Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms 3/5(2). Control Of Manipulation Robots Control Of Manipulation Robots by Richard P.

Paul. Download it Robot Manipulators books also available in PDF, EPUB, and Mobi Format for read it on your Kindle device, PC, phones or tablets. Homogeneous transformations; Kinematic equations; Solving kinematic equations; Differential relationships; Motion trajectories; Dynamics; Control; Static forces; Compliance.

Abstract and Figures This paper proposed an active disturbance control method for tracking control of robot manipulators. Firstly, all of the system uncertainties and external disturbances are. include a range of adaptive control methods. Four appendices are given with additional material on the mathematical and Lyapunov methods used and on the modelling details of direct current motors.

There is no doubt that this robot manipulator control course textbook is a challenging one but ultimately a very rewarding one. From a general. A new adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feedfor ward compensation part, with the unknown manipulator and payload parameters being estimated online.

The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. In particular, it requires neither feedback of joint accelerations.

Dias S, Queiroz K, Araujo A and Dias A () Robust control of robotic manipulators based on left inverse system and variable structure model reference adaptive control, International Journal of Adaptive Control and Signal Processing,(), Online publication date: 1-Aug Download Citation | Adaptive control of robot manipulators: A unified regressor-free approach | This book introduces an unified function approximation approach to the control of uncertain robot.

This paper focuses on the modelling and control of Unmanned Aerial Vehicles (UAVs) equipped with robotic arms, known as Unmanned Aerial Manipulators (UAMs). The main objective is to tackle the problem of controlling the UAV independently of the robot manipulator using adaptive backstepping techniques utilizing a lower dimensional simplified model of the overall system.

ISBN: OCLC Number: Notes: "A science publishers book." Description: xiii, pages ; 24 cm: Contents: From MRAC to learning-based MPC: the emerging importance of machine learning for control of robot manipulators / K.

Soltani Naveh and P.R. McAree --Discussion on model reference adaptive control of robotic manipulators / Dan Zhang and Bin Wei. Berghuis, H, Lohnberg, P & Nijmeijer, HAdaptive 'PD+' control of rigid robot manipulators.

in Preprints IFAC/IFIP/IMACS Symposium on robot control (part 2). Vienna, Austria, pp. Adaptive 'PD+' control of rigid robot manipulators. A Novel Adaptive Controller for Robot Manipulators based on Active Inference Corrado Pezzatoa,*, Riccardo Ferrarib, Carlos Hernandeza a Cognitive Robotics (CoR), TU Delft, The Netherlands b Delft Center for Systems and Control (DCSC), TU Delft, The Netherlands * Corresponding author Abstract More adaptive controllers for robot manipulators are needed, which can deal with.

This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators.

In this paper, we propose some adaptive iterative learning control (ILC) schemes for trajectory tracking of rigid robot manipulators, with unknown parameters, performing repetitive tasks. The proposed control schemes are based upon the use of a proportional-derivative (PD) feedback structure, for which an iterative term is added to cope with the unknown parameters and disturbances.

The purpose of this paper is to propose an adaptive control for a redundant robot manipulator interacting physically with the environment, especially with the existence of humans, on its body.,The redundant properties of the robot manipulator are used and a reference velocity variable is introduced to unify the operation-space tracking control and the null-space impedance control under.

Jagadeesh B and Kurien Issac K () Identification for the robust control of robot manipulators, International Journal of Adaptive Control and Signal Processing.

The classic text on robot manipulators now covers visual control, motion planning and mobile robots too. Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control. The text develops around a core of consistent and rigorous formalism with fundamental and technological material giving rise naturally and with gradually increasing difficulty to more.

To handle the above issues, the model reference adaptive controller for motion control applied to robot manipulators is presented in this paper. The control law is based on the decentralized linear joint control strategy. In this approach, the control law does not require the exact model of the joint.

Abstract An adaptive control scheme for the control of robotic manipulators is presented. The control scheme is shown to be robust with respect to bounded disturbances and parameter variations. Adaptive PID control of robot manipulators with H ∞ tracking performance Abstract: This paper proposes a novel adaptive robust PID controller to deal with the trajectory tracking of robot manipulators with nonlinear uncertainties and disturbances.

Although adaptive control for robotic manipulators has been widely studied, most of them require the acceleration signals of the joints, which are usually difficult to measure directly.

Although neural networks (NNs) have been used to approximate the unknown nonlinear dynamics in the robotic systems, the conventional adaptive laws for updating the NN weights cannot guarantee that the obtained. Abstract: This paper presents dynamic learning from adaptive neural control (ANC) with prescribed tracking error performance for an n-link robot manipulator subjected to unknown system dynamics and external disturbances.

To achieve the prescribed performance, a performance function is introduced to describe the performance restrictions on tracking errors, and then specific performance requirements.

This book is intended to provide an in-depth study of control systems for serial-link robot arms. It is a revised and expended version of our book. Chapters have been added on commercial robot manipulators and devices, neural network intelligent control, and implementation of advanced controllers on actual robotic systems.

Description Adaptive control of robot manipulators FB2

In this paper, an adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear saturation controller.

The asymptotic stability of the proposed controller has been derived based on Lyapunaov energy function. The design procedure is straightforward due to its. Adaptive motion and force control of manipulators in constrained motion in the presence of parametric uncertainties both in the robot and contact surfaces are considered in this paper.

A new constrained dynamic model is obtained to account for the effect of contact surface friction. In this paper, a new synthesis method of force/position control systems of robot manipulators is proposed.

The control systems synthesized on the basis of this method without using force/moment sensors and other additional devices provide simultaneous accurate control of both the position of robotpsilas end-effector and the force (may be variable) exerted by end-effector on some object (or.In this paper, the author presents the adaptive control design and stability analysis of robotic manipulators based on two main approaches, i.e., Lyapunov stability theory and hyperstability theory.

For the Lyapunov approach, the author presents the adaptive control of a 2-DOF (degrees of freedom) robotic manipulator. Furthermore, the adaptive control technique and Lyapunov theory are.Control Dynamics of Robotic Manipulators deals with both theory and mechanics of control and systems dynamics used in robotic movements.

The book discusses mechanical models of robot manipulators in relation to modular RP-unit manipulators, multiple mechanical system (Cartesian Model), or generalized coordinates (Lagrangian Model).