Direct Model Reference Adaptive Control of Flexible Robotic Manipulator PDF Download

Author:
Publisher:
ISBN:
Category :
Languages : en
Pages :

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Author: Deirdre R. Meldrum
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 81

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Author: Dan Zhang
Publisher: CRC Press
ISBN: 1351678922
Category : Science
Languages : en
Pages : 407

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Book Description
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.

Author: Institute for Computer Applications in Science and Engineering
Publisher:
ISBN:
Category :
Languages : en
Pages : 24

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An 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.

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

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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: Junku Yuh
Publisher:
ISBN:
Category : Manipulators (Mechanism)
Languages : en
Pages : 326

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Book Description
In this dissertation a direct approach to discrete-time model reference adaptive control (MRAC) based on hyperstability theory is proposed to control industrial robotic manipulators. For industrial robots and manipulators, which usually have highly nonlinear and complex dynamic equations and often have unknown inertia characteristics, it is very difficult to achieve high performance with conventional control strategies. This desired high performance in terms of speed and accuracy can be obtained by adaptive control techniques. Considering the effects of gravity, process noise and payload uncertainty the MRAC approach is investigated using simulation for a three degree of freedom industrial robot. These simulation results show that adaptive control techniques can provide robust properties in spite of poor a priori information regarding the robot dynamics and operating circumstances.

Author: National Aeronautics and Space Administration (NASA)
Publisher: Createspace Independent Publishing Platform
ISBN: 9781723213250
Category :
Languages : en
Pages : 110

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This project presents the results of controlling two types of robots using new Command Generator Tracker (CGT) based Direct Model Reference Adaptive Control (MRAC) algorithms. Two mathematical models were used to represent a single-link, flexible joint arm and a Unimation PUMA 560 arm; and these were then controlled in simulation using different MRAC algorithms. Special attention was given to the performance of the algorithms in the presence of sudden changes in the robot load. Previously used CGT based MRAC algorithms had several problems. The original algorithm that was developed guaranteed asymptotic stability only for almost strictly positive real (ASPR) plants. This condition is very restrictive, since most systems do not satisfy this assumption. Further developments to the algorithm led to an expansion of the number of plants that could be controlled, however, a steady state error was introduced in the response. These problems led to the introduction of some modifications to the algorithms so that they would be able to control a wider class of plants and at the same time would asymptotically track the reference model. This project presents the development of two algorithms that achieve the desired results and simulates the control of the two robots mentioned before. The results of the simulations are satisfactory and show that the problems stated above have been corrected in the new algorithms. In addition, the responses obtained show that the adaptively controlled processes are resistant to sudden changes in the load. Steinvorth, Rodrigo Unspecified Center CONTROL SYSTEMS DESIGN; CONTROLLERS; MODEL REFERENCE ADAPTIVE CONTROL; ROBOT ARMS; ROBOT CONTROL; ALGORITHMS; COMPUTERIZED SIMULATION; CONTROL STABILITY; LOADS (FORCES); MATHEMATICAL MODELS...

Author: John J. Craig
Publisher: Addison Wesley Publishing Company
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 152

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Author: Byeung Kyun Lee
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 330

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Book Description
For 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.

Author: John J. Craig
Publisher: Addison Wesley Publishing Company
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 152

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