Adaptive Control Methods for Mechanical Manipulators
Adaptive Control Methods for Mechanical Manipulators

Author: Hamadi Jamali

Publisher:

Published: 1989

Total Pages: 0

ISBN-13:

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A new adaptive control law for mechanical manipulators that maintains uniformly good performance over a wide range of motions and payloads is developed. This control strategy combines properties from both the Model Reference Adaptive Control and the Self Tuning Regulator Theory and serves to extend the Adaptive Model Following Control approach into using a nonlinear reference model. The design procedure is simple resulting in an overall system which is globally stable and offers itself to microcomputer implementation. The effectiveness of the approach is demonstrated on several computer simulations which compares its performances against some of the commonly known adaptive control techniques. Also presented is a comparison of the computation complexity of different methods used in deriving the dynamic equations of motion of a mechanical manipulator as well as a survey of various robot control methodologies available in the literature today. Automatic control systems, Identification, Adaptive control and robotics. (EG).

Adaptive Control for Robotic Manipulators
Adaptive Control for Robotic Manipulators

Author: Dan Zhang

Publisher: CRC Press

Published: 2017-02-03

Total Pages: 441

ISBN-13: 1498764886

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The robotic mechanism and its controller make a complete system. 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 in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.

Adaptive Control for Robotic Manipulators
Adaptive Control for Robotic Manipulators

Author: Dan Zhang

Publisher: CRC Press

Published: 2017-02-03

Total Pages: 407

ISBN-13: 1351678922

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The robotic mechanism and its controller make a complete system. 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 in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.

Model Reference Adaptive Control of Manipulators
Model Reference Adaptive Control of Manipulators

Author: D. P. Stoten

Publisher: Wiley

Published: 1990-05-14

Total Pages: 207

ISBN-13: 9780471926238

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This research study presents the author's recent research on the control of mechanical manipulators, offering an account of the latest advances in this area of the robotics field. Confirms the robustness of the Model Reference Adaptive Control (MRAC) and Minimal Controller Synthesis (MCS) algorithms applied to manipulators, using analytical as well as realistic nonlinear simulation techniques. Special attention is paid to the robustness proofs of MRAC and MCS and to the excellent results obtained from closed-loop simulation studies. The concepts of adaptive control are emphasized rather than the dynamic modeling of manipulators.