Adaptive Control for Robotic Manipulators

Adaptive Control for Robotic Manipulators

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.

Author: Dan Zhang

Publisher: CRC Press

ISBN: 9781351678926

Category: Technology & Engineering

Page: 440

View: 739

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.
Categories: Technology & Engineering

Adaptive Control of Robot Manipulators

Adaptive Control of Robot Manipulators

This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties.

Author: An-Chyau Huang

Publisher: World Scientific

ISBN: 9789814307420

Category: Technology & Engineering

Page: 276

View: 515

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.
Categories: Technology & Engineering

Robot Manipulator Control

Robot Manipulator Control

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 ...

Author: Frank L. Lewis

Publisher: CRC Press

ISBN: 0203026950

Category: Technology & Engineering

Page: 638

View: 719

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.
Categories: Technology & Engineering

Control of Robot Manipulators in Joint Space

Control of Robot Manipulators in Joint Space

In addition to the written text, auxiliary resources are available in the form of pdf projector presentations for the instructor to use in lectures and as printed class aids for students, and a pdf solutions manual.

Author: Rafael Kelly

Publisher: Springer Science & Business Media

ISBN: 9781852339999

Category: Technology & Engineering

Page: 426

View: 967

Tutors can design entry-level courses in robotics with a strong orientation to the fundamental discipline of manipulator control pdf solutions manual Overheads will save a great deal of time with class preparation and will give students a low-effort basis for more detailed class notes Courses for senior undergraduates can be designed around Parts I – III; these can be augmented for masters courses using Part IV
Categories: Technology & Engineering

Robot Manipulators

Robot Manipulators

This book presents the most recent research advances in robot manipulators.

Author: Agustin Jimenez

Publisher: BoD – Books on Demand

ISBN: 9789533070735

Category: Technology & Engineering

Page: 678

View: 815

This book presents the most recent research advances in robot manipulators. It offers a complete survey to the kinematic and dynamic modelling, simulation, computer vision, software engineering, optimization and design of control algorithms applied for robotic systems. It is devoted for a large scale of applications, such as manufacturing, manipulation, medicine and automation. Several control methods are included such as optimal, adaptive, robust, force, fuzzy and neural network control strategies. The trajectory planning is discussed in details for point-to-point and path motions control. The results in obtained in this book are expected to be of great interest for researchers, engineers, scientists and students, in engineering studies and industrial sectors related to robot modelling, design, control, and application. The book also details theoretical, mathematical and practical requirements for mathematicians and control engineers. It surveys recent techniques in modelling, computer simulation and implementation of advanced and intelligent controllers.
Categories: Technology & Engineering

Modelling and Control of Robot Manipulators

Modelling and Control of Robot Manipulators

In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this ...

Author: Lorenzo Sciavicco

Publisher: Springer Science & Business Media

ISBN: 9781447104490

Category: Technology & Engineering

Page: 378

View: 306

Fundamental and technological topics are blended uniquely and developed clearly in nine chapters with a gradually increasing level of complexity. A wide variety of relevant problems is raised throughout, and the proper tools to find engineering-oriented solutions are introduced and explained, step by step. Fundamental coverage includes: Kinematics; Statics and dynamics of manipulators; Trajectory planning and motion control in free space. Technological aspects include: Actuators; Sensors; Hardware/software control architectures; Industrial robot-control algorithms. Furthermore, established research results involving description of end-effector orientation, closed kinematic chains, kinematic redundancy and singularities, dynamic parameter identification, robust and adaptive control and force/motion control are provided. To provide readers with a homogeneous background, three appendices are included on: Linear algebra; Rigid-body mechanics; Feedback control. To acquire practical skill, more than 50 examples and case studies are carefully worked out and interwoven through the text, with frequent resort to simulation. In addition, more than 80 end-of-chapter exercises are proposed, and the book is accompanied by a solutions manual containing the MATLAB code for computer problems; this is available from the publisher free of charge to those adopting this work as a textbook for courses.
Categories: Technology & Engineering

Neural Network Control Of Robot Manipulators And Non Linear Systems

Neural Network Control Of Robot Manipulators And Non Linear Systems

The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.

Author: F W Lewis

Publisher: CRC Press

ISBN: 9781000162776

Category: Technology & Engineering

Page: 468

View: 241

There has been great interest in "universal controllers" that mimic the functions of human processes to learn about the systems they are controlling on-line so that performance improves automatically. Neural network controllers are derived for robot manipulators in a variety of applications including position control, force control, link flexibility stabilization and the management of high-frequency joint and motor dynamics. The first chapter provides a background on neural networks and the second on dynamical systems and control. Chapter three introduces the robot control problem and standard techniques such as torque, adaptive and robust control. Subsequent chapters give design techniques and Stability Proofs For NN Controllers For Robot Arms, Practical Robotic systems with high frequency vibratory modes, force control and a general class of non-linear systems. The last chapters are devoted to discrete- time NN controllers. Throughout the text, worked examples are provided.
Categories: Technology & Engineering

Adaptive Control of a Manipulator with a Flexible Link

Adaptive Control of a Manipulator with a Flexible Link

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.

Author: Institute for Computer Applications in Science and Engineering

Publisher:

ISBN: NASA:31769000679053

Category:

Page: 20

View: 871

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.
Categories:

Robotic Systems

Robotic Systems

This book presents advanced concepts, techniques and applications reflecting the experience of a wide group of specialists in the field.

Author: S.G. Tzafestas

Publisher: Springer Science & Business Media

ISBN: 0792317491

Category: Technology & Engineering

Page: 641

View: 874

Robotics is a modern interdisciplinary field that has emerged from the marriage of computerized numerical control and remote manipulation. Today's robotic systems have intelligence features, and are able to perform dexterous and intelligent human-like actions through appropriate combination of learning, perception, planning, decision making and control. This book presents advanced concepts, techniques and applications reflecting the experience of a wide group of specialists in the field. Topics include: kinematics, dynamics, path planning and tracking, control, mobile robotics, navigation, robot programming, and sophisticated applications in the manufacturing, medical, and other areas.
Categories: Technology & Engineering

Flexible Robot Manipulators

Flexible Robot Manipulators

This book discusses the latest developmens in modelling, simulation and control of flexible robot manipulators.

Author: M.O. Tokhi

Publisher: IET

ISBN: 9780863414480

Category: Technology & Engineering

Page: 545

View: 289

This book reports recent and new developments in modeling, simulation and control of flexible robot manipulators. The material is presented in four distinct components: a range of modeling approaches including classical techniques based on the Lagrange equation formulation, parametric approaches based on linear input/output models using system identification techniques and neuro-modeling approaches; numerical modeling/simulation techniques for dynamic characterization of flexible manipulators using the finite difference, finite element, symbolic manipulation and customized software techniques; a range of open-loop and closed-loop control techniques based on classical and modern intelligent control methods including soft-computing and smart structures for flexible manipulators; and software environments for analysis, design, simulation and control of flexible manipulators.
Categories: Technology & Engineering

Direct Adaptive Control Algorithms

Direct Adaptive Control Algorithms

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.

Author: Howard Kaufman

Publisher: Springer Science & Business Media

ISBN: 0387948848

Category: Technology & Engineering

Page: 424

View: 882

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.
Categories: Technology & Engineering

Robot Control

Robot Control

Author: K. Warwick

Publisher: Peter Peregrinus Limited

ISBN: UCSD:31822003536232

Category: Technology & Engineering

Page: 238

View: 762

Categories: Technology & Engineering

Intelligent Tuning and Adaptive Control

Intelligent Tuning and Adaptive Control

The paper describes the test robot, design and implementation of an adaptive
controller. An adaptive geometrical compensation control scheme is proposed for
hydraulic robot manipulators. Keywords: adaptive control, robot control, hydraulic
 ...

Author: R. Devanathan

Publisher: Elsevier

ISBN: 9781483298955

Category: Technology & Engineering

Page: 427

View: 679

This volume contains 67 papers reporting on the state-of-the-art research in the fields of adaptive control and intelligent tuning. Papers include applications in robotics, the processing industries and machine control.
Categories: Technology & Engineering

Fundamentals in Modeling and Control of Mobile Manipulators

Fundamentals in Modeling and Control of Mobile Manipulators

Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments.

Author: Zhijun Li

Publisher: CRC Press

ISBN: 9781466580428

Category: Technology & Engineering

Page: 295

View: 564

Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design. However, advances in nonlinear system analysis and control system design offer powerful tools and concepts for the control of mobile manipulator systems. Fundamentals in Modeling and Control of Mobile Manipulators presents a thorough theoretical treatment of several fundamental problems for mobile robotic manipulators. The book integrates fresh concepts and state-of-the-art results to systematically examine kinematics and dynamics, motion generation, feedback control, coordination, and cooperation. From this treatment, the authors form a basic theoretical framework for a mobile robotic manipulator that extends the theory of nonlinear control and applies to more realistic problems. Drawing on their research over the past ten years, the authors propose novel control theory concepts and techniques to tackle key problems. Topics covered include kinematic and dynamic modeling, control of nonholonomic systems, path planning that considers motion and manipulation, hybrid motion/force control and hybrid position/force control where the mobile manipulator is required to interact with environments, and coordination and cooperation strategies for multiple mobile manipulators. The book also includes practical examples of applications in engineering systems. This timely book investigates important scientific and engineering issues for researchers and engineers working with either single or multiple mobile manipulators for larger operational space, better cooperation, and improved productivity.
Categories: Technology & Engineering

Adaptive control of manipulators containing closed kinematic loops

Adaptive control of manipulators containing closed kinematic loops

[5] G. Leininger, "Self- timing Control of Manipulators", Int'l Symp. on Advanced
Software in Robotics, 1983. [6] S. Dubowsky and D. T. Desforges, "The
Application of Model-Reference Adaptive Control to Robotic Manipulators", /. Dyn
. Syst.

Author: Michael W. Walker

Publisher:

ISBN: UOMDLP:bad7647:0001.001

Category:

Page:

View: 189

Categories:

Visual Servoing

Visual Servoing

This book treats visual feedback control of mechanical systems, mostly robot manipulators.

Author: Koichi Hashimoto

Publisher: World Scientific

ISBN: 9810213646

Category: Technology & Engineering

Page: 363

View: 161

This book treats visual feedback control of mechanical systems, mostly robot manipulators. It not only deals with image processing techniques and robot control schemes but also covers the latest investigation of the design of the visual servo mechanism based on modern linear and nonlinear control theory, the adaptive control scheme, fuzzy logic, and neural networks. New concepts for utilizing visual sensory information for real-time manipulator control are derived and the performances are evaluated through simulations and/or experiments.The contributors to this book are robotics specialists from all over the world. The book gives a practical perspective on visual servoing to researchers, engineers, and students working in this area.
Categories: Technology & Engineering