Adaptive and Robust Control of Flexible Joint Robots with Joint Torque Feedback [microform] PDF Download

Author: Tian Lin
Publisher: National Library of Canada = Bibliothèque nationale du Canada
ISBN: 9780612352261
Category :
Languages : en
Pages : 328

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Author: Mark C. Readman
Publisher: CRC Press
ISBN: 9780849326011
Category : Technology & Engineering
Languages : en
Pages : 164

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Book Description
Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the fast dynamics that are introduced by joint flexibility. High gain acceleration feedback from the link angles simplifies the robot dynamics, but is limited by joint flexibility. One solution is to use joint torque feedback to stabilize the fast dynamics. In light of this, drive systems that incorporate joint torque sensors are being developed. Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design. The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate systems and includes an analysis of the fast dynamics.

Author: An-Chyau Huang
Publisher: World Scientific
ISBN: 9814307424
Category : Technology & Engineering
Languages : en
Pages : 274

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Book Description
This 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.

Author: John York Hung
Publisher:
ISBN:
Category : Robots
Languages : en
Pages : 101

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Book Description

Author: Dan Zhang
Publisher: CRC Press, Taylor & Francis Group, CRC Press is
ISBN: 9781498764872
Category : Adaptive control systems
Languages : en
Pages : 0

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Book Description
Cover -- Half title -- Title Page -- Copyright page -- Table of Contents -- Preface -- 1: From MRAC to Learning-Based MPC: The Emerging Importance of Machine Learning for Control of Robot Manipulators -- 2: Discussion on Model Reference Adaptive Control of Robotic Manipulators -- 3: Data-Based Learning for Uncertain Robotic Systems -- 4: Reinforcement Learning of Robotic Manipulators -- 5: Adaptive Control for Multi-Fingered Robot Hands -- 6: Output Feedback Adaptive Control of Uncertain Dynamical Systems with Event-Triggering -- 7: Event Sampled Adaptive Control of Robot Manipulators and Mobile Robot Formations -- 8: Design, Integration and Analysis of a Hybrid Controller for Multi Degrees of Freedom Serial Mechanisms -- 9: Adaptive Control of Modular Ankle Exoskeletons in Neurologically Disabled Populations -- 10: Open Architecture High Value Added Robot Manufacturing Cells -- 11: The Adaptive Control Algorithm for Manipulators with Joint Flexibility -- 12: Unification of Bipedal Robotic Walking using Quadratic Program-based Control Lyapunov Function: Applications to Regulation of ZMP and Angular Momentum -- 13: Robust Adaptive Nonlinear Control for Robotic Manipulators with Flexible Joints -- 14: Adaptive Switching Iterative Learning Control of Robot Manipulator -- 15: Adaptive Robust Control Design for Robot Manipulators Based on Online Estimation of the Lumped Time-Varying Model Uncertainties -- 16: Evaluation of Microgenetic and Microimmune Algorithms for Solving Inverse Kinematics of Hyper-redundant Robotic Manipulators On-line -- Index

Author: Majid M. Moghaddam
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Book Description
The problem of the control of flexible joint robots is considered. Motion and torque control of robot joints, especially those equipped with harmonic drive (HD) transmission, is a challenging task due to the inherent nonlinear characteristics and joint flexibility of such systems. Two issues related to the control of flexible joint robots are investigated. The first is the development of a systematic scheme for selecting uncertainty bounds of robot joint nonlinearity and flexibility for control design purposes. The second is the development of motion and torque control schemes that guarantee robust performance in the presence of model uncertainties. We propose a twofold robust control design for flexible joint robots with HD: an actuator-level torque control and a link-level motion control. We utilize multivariable ${\cal H}\sb\infty$-based optimal control laws supported entirely by frequency domain measures at both levels. The proposed method provides a unified framework for achieving the desired performance requirements and for preserving robust stability in the presence of model uncertainties. Using simulation it is shown that the proposed method is more robust than conventional methods because the uncertainties due to the actuator-transmission nonlinearity are explicitly considered in the control design procedure. In the design of the actuator level torque control, we analyze nonlinear harmonic drive phenomena that have been widely observed in experiments. The focus is on incorporating into the control design process a knowledge of the mismatch between the physical system and its mathematical models. The describing function and conic-sector-bounded nonlinearity methods are used to build into the control design process the effects of mismatch between hysteresis, friction and nonlinear stiffness of HD transmission and their mathematical models. In the design of the link level motion control, a nonlinear compensator based on the computed torque technique is derived. It is shown that the closed-loop system achieves robust performance using the proposed control design technique. Using the Small Gain theorem and the Lyapunov Function method, the stability of the proposed control scheme is verified. Finally, in order to illustrate the proposed technique two control designs are presented for the IRIS-facility experimental testbed (a versatile, modular, and reconfigurable prototype robot developed at the Robotics and Automaton Laboratory of the University of Toronto) together with simulation and experimental results.

Author: Yau-Zen Chang
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 0

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Book Description

Author: Mathieu Grossard
Publisher: John Wiley & Sons
ISBN: 1118572122
Category : Technology & Engineering
Languages : en
Pages : 290

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Book Description
The objective of this book is to provide those interested in the field of flexible robotics with an overview of several scientific and technological advances in the practical field of robotic manipulation. The different chapters examine various stages that involve a number of robotic devices, particularly those designed for manipulation tasks characterized by mechanical flexibility. Chapter 1 deals with the general context surrounding the design of functionally integrated microgripping systems. Chapter 2 focuses on the dual notations of modal commandability and observability, which play a significant role in the control authority of vibratory modes that are significant for control issues. Chapter 3 presents different modeling tools that allow the simultaneous use of energy and system structuring notations. Chapter 4 discusses two sensorless methods that could be used for manipulation in confined or congested environments. Chapter 5 analyzes several appropriate approaches for responding to the specific needs required by versatile prehension tasks and dexterous manipulation. After a classification of compliant tactile sensors focusing on dexterous manipulation, Chapter 6 discusses the development of a complying triaxial force sensor based on piezoresistive technology. Chapter 7 deals with the constraints imposed by submicrometric precision in robotic manipulation. Chapter 8 presents the essential stages of the modeling, identification and analysis of control laws in the context of serial manipulator robots with flexible articulations. Chapter 9 provides an overview of models for deformable body manipulators. Finally, Chapter 10 presents a set of contributions that have been made with regard to the development of methodologies for identification and control of flexible manipulators based on experimental data. Contents 1. Design of Integrated Flexible Structures for Micromanipulation, Mathieu Grossard, Mehdi Boukallel, Stéphane Régnier and Nicolas Chaillet. 2. Flexible Structures’ Representation and Notable Properties in Control, Mathieu Grossard, Arnaud Hubert, Stéphane Régnier and Nicolas Chaillet. 3. Structured Energy Approach for the Modeling of Flexible Structures, Nandish R. Calchand, Arnaud Hubert, Yann Le Gorrec and Hector Ramirez Estay. 4. Open-Loop Control Approaches to Compliant Micromanipulators, Yassine Haddab, Vincent Chalvet and Micky Rakotondrabe. 5. Mechanical Flexibility and the Design of Versatile and Dexterous Grippers, Javier Martin Amezaga and Mathieu Grossard. 6. Flexible Tactile Sensors for Multidigital Dexterous In-hand Manipulation, Mehdi Boukallel, Hanna Yousef, Christelle Godin and Caroline Coutier. 7. Flexures for High-Precision Manipulation Robots, Reymond Clavel, Simon Henein and Murielle Richard. 8. Modeling and Motion Control of Serial Robots with Flexible Joints, Maria Makarov and Mathieu Grossard. 9. Dynamic Modeling of Deformable Manipulators, Frédéric Boyer and Ayman Belkhiri. 10. Robust Control of Robotic Manipulators with Structural Flexibilities, Houssem Halalchi, Loïc Cuvillon, Guillaume Mercère and Edouard Laroche. About the Authors Mathieu Grossard, CEA LIST, Gif-sur-Yvette, France. Nicolas Chaillet, FEMTO-ST, Besançon, France. Stéphane Régnier, ISIR, UPMC, Paris, France.

Author: Shaheen Ahmad
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 23

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Book Description
Simulations are presented to verify the validity of the control scheme. The superiority of the proposed scheme over existing rigid robot adaptive schemes is also illustrated through simulation."

Author: Fathi Ghorbel
Publisher:
ISBN:
Category :
Languages : en
Pages : 404

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Book Description
The adaptive control of flexible joint robot manipulators using composite control is presented first. This slow/fast control strategy consists of a slow adaptive controller designed for a rigid robot together with a fast controller to damp the elastic oscillations of the joints. The mathematical details and rigorous stability proofs of this algorithm are presented. Using the composite Lyapunov theory for singularly perturbed systems, sufficient conditions for adaptive trajectory tracking a presented. A second approach based on the method of integral manifolds for singularly perturbed systems is presented next. The known parameter case is treated and stability analysis is included. The method of integral manifolds is then extended to the adaptive case. Sufficient conditions for adaptive trajectory tracking are presented for both the general case and a special class of robot manipulators. Finally experimental and simulation results are included to illustrate different aspects of the results including adaptive instability mechanisms.