Direct Model Reference Adaptive Control of a Flexible Robotic Manipulator PDF Download

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

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

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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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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: 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: 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: 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 : Technology & Engineering
Languages : en
Pages : 152

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Book Description

Author: Howard Kaufman
Publisher: Springer Science & Business Media
ISBN: 146840217X
Category : Technology & Engineering
Languages : en
Pages : 380

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Book Description
Suitable either as a reference or as a text for a graduate course in adaptive control systems, this book is a self-contained compendium of easily implementable adaptive control algorithms that have been developed and applied by the authors for over 10 years. These algorithms do not require explicit process parameter identification and have been successfully applied to a wide variety of engineering problems including flexible structure control, blood pressure control and robotics. In general, these algorithms are suitable for a wide class of multiple input-output control systems containing significant uncertainty as well as disturbances.

Author: M. Vukobratovic
Publisher: Springer Science & Business Media
ISBN: 3642822010
Category : Computers
Languages : en
Pages : 394

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Book Description
The material presented in this monograph is a logical continuation of research results achieved in the control of manipulation robots. This is in a way, a synthesis of many-year research efforts of the associates of Robotics Department, Mihailo Pupin Institute, in the field of dynamic control.of robotic systems. As in Vol. 2 of this Series, all results rely on the mathematical models of dynamics of active spatial mechanisms which offer the possibility for adequate dynamic control of manipula tion robots. Compared with Vol. 2, this monograph has three essential new character istics, and a variety of new tasks arising in the control of robots which have been formulated and solved for the first time. One of these novelties is nonadaptive control synthesized for the case of large variations in payload parameters, under the condition that the practical stability of the overall system is satisfied. Such a case of control synthesis meets the actual today's needs in industrial robot applications. The second characteristic of the monograph is the efficient adaptive control algorithm based on decentralized control structure intended for tasks in which parameter variations cannot be specified in advance. To be objective, this is not the case in industrial robotics today. Thus, nonadaptive control with and without a particular parameter variation is supplemented by adaptive dynamic control algorithms which will cer tainly be applicable in the future industrial practice when parametric identification of workpieces will be required.