Adaptive Control of Mechanical Manipulators PDF Download

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

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Author: Frank L. Lewis
Publisher: CRC Press
ISBN: 9780203026953
Category : Technology & Engineering
Languages : en
Pages : 646

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Book Description
Robot Manipulator Control offers a complete survey of control systems for serial-link robot arms and acknowledges how robotic device performance hinges upon a well-developed control system. Containing over 750 essential equations, this thoroughly up-to-date Second Edition, the book explicates theoretical and mathematical requisites for controls design and summarizes current techniques in computer simulation and implementation of controllers. It also addresses procedures and issues in computed-torque, robust, adaptive, neural network, and force control. New chapters relay practical information on commercial robot manipulators and devices and cutting-edge methods in neural network control.

Author: P.J. Fleming
Publisher: Elsevier
ISBN: 1483297934
Category : Technology & Engineering
Languages : en
Pages : 374

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Book Description
This Workshop focuses on such issues as control algorithms which are suitable for real-time use, computer architectures which are suitable for real-time control algorithms, and applications for real-time control issues in the areas of parallel algorithms, multiprocessor systems, neural networks, fault-tolerance systems, real-time robot control identification, real-time filtering algorithms, control algorithms, fuzzy control, adaptive and self-tuning control, and real-time control applications.

Author: Howard Kaufman
Publisher: Springer Science & Business Media
ISBN: 146120657X
Category : Technology & Engineering
Languages : en
Pages : 445

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Book Description
Suitable either as a reference for practising engineers or as a text for a graduate course in adaptive control systems, this is a self-contained compendium of readily implementable adaptive control algorithms. These algorithms have been developed and applied by the authors for over fifteen years to a wide variety of engineering problems including flexible structure control, blood pressure control, and robotics. As such, they are suitable for a wide variety of multiple input-output control systems with uncertainty and external disturbances. The text is intended to enable anyone with knowledge of basic linear multivariable systems to adapt the algorithms to problems in a wide variety of disciplines. Thus, in addition to developing the theoretical details of the algorithms presented, the text gives considerable emphasis to designing algorithms and to representative applications in flight control, flexible structure control, robotics, and drug-infusion control. This second edition makes good use of MATLAB programs for the illustrative examples; these programs are described in the text and can be obtained from the MathWorks file server.

Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 892

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Author:
Publisher:
ISBN:
Category : Mechanics, Applied
Languages : en
Pages : 400

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Book Description

Author: I.C. Parmee
Publisher: Springer Science & Business Media
ISBN: 0857293389
Category : Computers
Languages : en
Pages : 385

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Book Description
The Adaptive Computing in Design and Manufacture conference series has become a well-established, largely application-oriented meeting recognised by several UK Engineering Institutions and the International Society of Genetic and Evolutionary Computing. The main theme of the series relates to the integration of evolutionary and adaptive computing technologies with design and manufacturing processes whilst also taking into account complementary advanced computing technologies. Evolutionary and adaptive computing techniques continue to increase their penetration of industrial and commercial practice as awareness of their powerful search, exploration and optimisation capabilities becomes ever more prevalent, and increasing desk-top computational capability renders stochastic population-based search a far more viable proposition. There has been a significant increase in the development and integration of commercial software tools utilising adaptive computing technologies and the emergence of related commercial research and consultancy organisations supporting the introduction of best practice in terms of industrial utilisation. The book is comprised of selected papers that cover a diverse set of industrial application areas including engineering design and design environments and manufacturing process design, scheduling and control. Various aspects of search, exploration and optimisation are investigated in the context of integration with industrial processes including multi-objective and constraint satisfaction, development and utilization of meta-models, algorithm and strategy development and human-centric evolutionary approaches. The role of agent-based and neural net technologies in terms of supporting search processes and providing an alternative simulation environment is also explored. This collection of papers will be of particular interest to both industrial researchers and practitioners in addition to the academic research communities across engineering, operational research and computer science.

Author: S.G. Tzafestas
Publisher: Springer Science & Business Media
ISBN: 9401154988
Category : Technology & Engineering
Languages : en
Pages : 573

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Book Description
This book is concerned with Intelligent Control methods and applications. The field of intelligent control has been expanded very much during the recent years and a solid body of theoretical and practical results are now available. These results have been obtained through the synergetic fusion of concepts and techniques from a variety of fields such as automatic control, systems science, computer science, neurophysiology and operational research. Intelligent control systems have to perform anthropomorphic tasks fully autonomously or interactively with the human under known or unknown and uncertain environmental conditions. Therefore the basic components of any intelligent control system include cognition, perception, learning, sensing, planning, numeric and symbolic processing, fault detection/repair, reaction, and control action. These components must be linked in a systematic, synergetic and efficient way. Predecessors of intelligent control are adaptive control, self-organizing control, and learning control which are well documented in the literature. Typical application examples of intelligent controls are intelligent robotic systems, intelligent manufacturing systems, intelligent medical systems, and intelligent space teleoperators. Intelligent controllers must employ both quantitative and qualitative information and must be able to cope with severe temporal and spatial variations, in addition to the fundamental task of achieving the desired transient and steady-state performance. Of course the level of intelligence required in each particular application is a matter of discussion between the designers and users. The current literature on intelligent control is increasing, but the information is still available in a sparse and disorganized way.

Author: A. De Carli
Publisher: Elsevier
ISBN: 1483297918
Category : Technology & Engineering
Languages : en
Pages : 437

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Book Description
Motion Control is a rapidly evolving topic, with a wide range of applications, especially in robotics. Speed and position control of a mechanical system has always been one of the main problems in automatic control, as the demand increases for advanced levels of accuracy and dynamics. The study of motion control aims to combine theoretical approaches with the realization of mechanical systems characterized by high levels of performance. The IFAC workshop focused on the evolution of: mechanical systems modelling; control strategies; intelligent instrumentation; dedicated microprocessor devices, and new fields of application.

Author: Aly El-Osery
Publisher: Springer
ISBN: 331914636X
Category : Technology & Engineering
Languages : en
Pages : 380

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Book Description
This book is a tribute to 40 years of contributions by Professor Mo Jamshidi who is a well known and respected scholar, researcher, and educator. Mo Jamshidi has spent his professional career formalizing and extending the field of large-scale complex systems (LSS) engineering resulting in educating numerous graduates specifically, ethnic minorities. He has made significant contributions in modeling, optimization, CAD, control and applications of large-scale systems leading to his current global role in formalizing system of systems engineering (SoSE), as a new field. His books on complex LSS and SoSE have filled a vacuum in cyber-physical systems literature for the 21st Century. His contributions to ethnic minority engineering education commenced with his work at the University of New Mexico (UNM, Tier-I Hispanic Serving Institution) in 1980 through a NASA JPL grant. Followed by several more major federal grants, he formalized a model for educating minorities, called VI-P Pyramid where K-12 students(bottom of pyramid) to doctoral (top of pyramid) students form a seamless group working on one project. Upper level students mentor lower ones on a sequential basis. Since 1980, he has graduated over 114 minority students consisting of 62 Hispanics, 34 African Americans., 15 Native Americans, and 3 Pacific Islanders. This book contains contributed chapters from colleagues, and former and current students of Professor Jamshidi. Areas of focus are: control systems, energy and system of systems, robotics and soft computing.