Modelling and Adaptive Control of a Mechanical Manipulator
Author: Robert Phillip Anex
Publisher:
Published: 1983
Total Pages: 172
ISBN-13:
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Adaptive Control of Mechanical Manipulators
Author: John J. Craig
Publisher: Addison Wesley Publishing Company
Published: 1988
Total Pages: 152
ISBN-13:
DOWNLOAD EBOOKAdaptive Control for Robotic Manipulators
Author: Dan Zhang
Publisher: CRC Press
Published: 2017-02-03
Total Pages: 441
ISBN-13: 1498764886
DOWNLOAD EBOOKThe 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 of Robot Manipulators
Author: An-Chyau Huang
Publisher: World Scientific
Published: 2010
Total Pages: 274
ISBN-13: 9814307416
DOWNLOAD EBOOKThis book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.
Model Reference Adaptive Control of Manipulators
Author: D. P. Stoten
Publisher: Wiley
Published: 1990-05-14
Total Pages: 207
ISBN-13: 9780471926238
DOWNLOAD EBOOKThis 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.
Adaptive Control Methods for Mechanical Manipulators
Author: Hamadi Jamali
Publisher:
Published: 1989
Total Pages: 0
ISBN-13:
DOWNLOAD EBOOKA 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).
Fundamentals in Modeling and Control of Mobile Manipulators
Author: Zhijun Li
Publisher: CRC Press
Published: 2016-04-19
Total Pages: 292
ISBN-13: 1466580429
DOWNLOAD EBOOKMobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design.
A Model Reference Adaptive System for Control of a Flexible Mechanical Manipulator
Author: Byeung Kyun Lee
Publisher:
Published: 1988
Total Pages: 330
ISBN-13:
DOWNLOAD EBOOKFor control of a flexible manipulator, the assumed- mode method is applied to the mathematical model of the model reference adaptive system. In the assumed-mode method, the flexible, continuous manipulator is described by a limited number of degrees of freedom. A modified model reference adaptive system is studied for direct application of the adaptive control scheme to the control of a flexible manipulator. Use of the assumed-mode method and the modified model reference adaptive system reduce difficulties in designing the controller of the flexible manipulator. A numerical simulation, using the above procedure, is developed to identify a flexible manipulator with unknown parameters and simulation results show the satisfactory convergence of the parameters.
Adaptive Control of a Manipulator with a Flexible Link
Author: Institute for Computer Applications in Science and Engineering
Publisher:
Published: 1988
Total Pages: 24
ISBN-13:
DOWNLOAD EBOOKAn adaptive controller for a manipulator with one rigid link and one flexible link is presented. The performance and robustness of the controller are demonstrated by numerical simulation results. In the simulations, the manipulator moves in a gravitational field and a finite element model represents the flexible link. Keywords: Adaptive control, Robot, Flexible link.
Modelling and Control of Robot Manipulators
Author: Lorenzo Sciavicco
Publisher: Springer Science & Business Media
Published: 2012-12-06
Total Pages: 391
ISBN-13: 1447104498
DOWNLOAD EBOOKFundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
