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Author: Byeung Kyun Lee Publisher: ISBN: Category : Adaptive control systems Languages : en Pages : 330
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: Byeung Kyun Lee Publisher: ISBN: Category : Adaptive control systems Languages : en Pages : 330
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: Institute for Computer Applications in Science and Engineering Publisher: ISBN: Category : Languages : en Pages : 24
Book Description
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: Dan Zhang Publisher: CRC Press ISBN: 1351678922 Category : Science Languages : en Pages : 407
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: An-Chyau Huang Publisher: World Scientific ISBN: 9814307416 Category : Technology & Engineering Languages : en Pages : 274
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: An-Chyau Huang Publisher: World Scientific ISBN: 9814307424 Category : Technology & Engineering Languages : en Pages : 274
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: Byeung Kyun Lee
Author: Byeung Kyun Lee
Author: Deirdre R. Meldrum
Author: Roberto Horowitz
Author: John J. Craig
Author: 
Author: Institute for Computer Applications in Science and Engineering
Author: Dan Zhang
Author: John J. Craig
Author: An-Chyau Huang
Author: An-Chyau Huang