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: Alan S. I. Zinober
Publisher: IET
ISBN: 9780863411700
Category : Computers
Languages : en
Pages : 390

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Book Description
Includes sections on: Sliding mode control with switching command devices. Hyperplane design and CAD of variable structure control systems. Variable structure controllers for robots. The hyperstability approach to VSCS design. Nonlinear continuous feedback for robust tracking. Control of uncertain systems with neglected dynamics. Control of infinite dimensional plants.

Author: Zhen-Yu Chen
Publisher: Elsevier
ISBN: 1483298795
Category : Technology & Engineering
Languages : en
Pages : 489

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Book Description
This volume contains 73 papers, presenting the state of the art in computer-aided design in control systems (CADCS). The latest information and exchange of ideas presented at the Symposium illustrates the development of computer-aided design science and technology within control systems. The Proceedings contain six plenary papers and six special invited papers, and the remainder are divided into five themes: CADCS packages; CADCS software and hardware; systems design methods; CADCS expert systems; CADCS applications, with finally a discussion on CADCS in education and research.

Author: S.G. Tzafestas
Publisher: Springer Science & Business Media
ISBN: 9401138125
Category : Technology & Engineering
Languages : en
Pages : 411

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Book Description
Microprocessors play a dominant role in computer technology and have contributed uniquely in the development of many new concepts and design techniques for modem industrial systems. This contribution is excessively high in the area of robotic and manufacturing systems. However, it is the editor's feeling that a reference book describing this contribution in a cohesive way and covering the major hardware and software issues is lacking. The purpose of this book is exactly to fill in this gap through the collection and presentation of the experience of a number of experts and professionals working in different academic and industrial environments. The book is divided in three parts. Part 1 involves the first four chapters and deals with the utilization of microprocessors and digital signal processors ( DSPs ) for the computation of robot dynamics. The emphasis here is on parallel computation with particular problems attacked being task granularity, task allocation/scheduling and communication issues. Chapter I, by Zheng and Hemami, is concerned with the real-time multiprocessor computation of torques in robot control systems via the Newton-Euler equations. This reduces substantially the height of the evaluation tree which leads to more effective parallel processing. Chapter 2, by D'Hollander, examines thoroughly the automatic scheduling of the Newton-Euler inverse dynamic equations. The automatic program decomposition and scheduling techniques developed are embedded in a tool used to generate multiprocessor schedules from a high-level language program.

Author: Fuchun Sun
Publisher: Springer Nature
ISBN: 9819980186
Category : Computers
Languages : en
Pages : 445

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Book Description
The two-volume set CCIS 1918 and 1919 constitutes the refereed post-conference proceedings of the 8th International Conference on Cognitive Systems and Information Processing, ICCSIP 2023, held in Luoyang, China, during August 10–12, 2023. The 52 full papers presented in these proceedings were carefully reviewed and selected from 136 submissions. The papers are organized in the following topical sections: Volume I : Award; Algorithm & Control; and Application. Volume II: Robotics & Bioinformatics; and Vision.

Author: M.B. Zaremba
Publisher: Elsevier
ISBN: 1483298841
Category : Technology & Engineering
Languages : en
Pages : 517

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Book Description
These proceedings contain more than 80 of the best papers presented at the INCOM '92 Symposium, and relate to the vast changes which are occurring worldwide in manufacturing technology. Research oriented technical papers cover subjects such as: simulation of manufacturing processes; sensor based robots; information systems; general aspects of CIM and manufacturing networks.

Author: C.T. Leonides
Publisher: Academic Press
ISBN: 0323162886
Category : Technology & Engineering
Languages : en
Pages : 432

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Book Description
Advances in Robotic Systems, Part 2 is the second of a companion set of two volumes on advances in robotic systems dynamics and control. This book comprises nine chapters, with the first focusing on kinesthetic feedback techniques in teleoperated systems. The succeeding chapters then delve into topics such as parallel algorithms and fault-tolerant reconfigurable architecture for robot kinematics and dynamics computations; trajectory planning for robot control; and a control systems perspective. Other chapters cover simplified techniques for adaptive control of robotic systems; theory and applications of configuration control for redundant manipulators; nonlinear feedback for force control of robot manipulators; systolic architectures for dynamic control of manipulators; inverse dynamics; and forward dynamics. This book will be of interest to practitioners in the fields of computer science, systems science, and mathematics.

Author: Clarence W. de Silva
Publisher: CRC Press
ISBN: 1351437690
Category : Computers
Languages : en
Pages : 368

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Book Description
The emergence of fuzzy logic and its applications has dramatically changed the face of industrial control engineering. Over the last two decades, fuzzy logic has allowed control engineers to meet and overcome the challenges of developing effective controllers for increasingly complex systems with poorly defined dynamics. Today's engineers need a working knowledge of the principles and techniques of fuzzy logic-Intelligent Control provides it. The author first introduces the traditional control techniques and contrasts them with intelligent control. He then presents several methods of representing and processing knowledge and introduces fuzzy logic as one such method. He highlights the advantages of fuzzy logic over other techniques, indicates its limitations, and describes in detail a hierarchical control structure appropriate for use in intelligent control systems. He introduces a variety of applications, most in the areas of robotics and mechatronics but with others including air conditioning and process/production control. One appendix provides discussion of some advanced analytical concepts of fuzzy logic, another describes a commercially available software system for developing fuzzy logic application. Intelligent Control is filled with worked examples, exercises, problems, and references. No prior knowledge of the subject nor advanced mathematics are needed to comprehend much of the book, making it well-suited as a senior undergraduate or first-year graduate text and a convenient reference tool for practicing professionals.

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: Lakhmi C. Jain
Publisher: CRC Press
ISBN: 9780849398056
Category : Computers
Languages : en
Pages : 440

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Book Description
This book describes important techniques, developments, and applications of computational intelligence in system control. Chapters present: an introduction to the fundamentals of neural networks, fuzzy logic, and evolutionary computing a rigorous treatment of intelligent control industrial applications of intelligent control and soft computing, including transportation, petroleum, motor drive, industrial automation, and fish processing other knowledge-based techniques, including vehicle driving aid and air traffic management Intelligent Adaptive Control provides a state-of-the-art treatment of practical applications of computational intelligence in system control. The book cohesively covers introductory and advanced theory, design, implementation, and industrial use - serving as a singular resource for the theory and application of intelligent control, particularly employing fuzzy logic, neural networks, and evolutionary computing.