Nonlinear adaptive motion control for a manipulator with flexible joints
Recommend Documents
Adaptive Control of a Flexible-Link Robotic Manipulator with Unknown Payload
Dynamics. Lawrence J. Alder. Stephen M. Rock y. Stanford University Aerospace
...
Abstract. In the past decades, there were considerable number. The backlash, which is caused by a gap between an actuator-side gear tooth and a link-side ...
[5], the following model based on a metal cutting theory is introduced. f t = bllttl + hl+nl + b3 ..... D.C. Brushless motor with gear ratio 1OO:l. The grind- ing tool is ...
gle-link lightweight flexible manipulators is ... Presented at 1989 IEEE
Conference on Robotics ... General robust control scheme for flexible
manipulators.
DAPTIVE control of rigid robot manipulators has been. A thoroughly studied in
the last ... The dynamic model (l), (2) does not represent the most general
dynamic ...
the dynamics anonymity and joints stiffness/damping variations. ... a KUKA LWR moving in free space with its joints stiffness and damping vary with time in sine ...
very useful in the design of the adaptive control schemes. [I]-[4]. However, in the case of flexible joint manipulators the mapping: U + q1 cannot be proved to be ...
Cerman, O., & Hušek, P. (2012). Adaptive fuzzy sliding mode control for electro- hydraulic servo mechanism, Expert. Systems with Applications, 39(11), pp.
Farzin Piltan , N. Sulaiman & M. H. Marhaban, âDesign On-Line Tuneable Gain Artificial ... http://research.cs.wisc.eduwww.cjpas.net/Jun-11.pdf#page=115.
Review of stability guaranteed control with time domain passivity ..... First, for designing the PO, it is necessary to check the real-time availability of the conjugate.
This paper presents the design of a nonlinear adaptive ... A robust controller design for flexible ..... For the positive semi-definite (p.s.d) function V2 defined by.
Nov 8, 2015 - into the velocity subsystem and the altitude subsystem. To ... uncertainties, neural network (NN) is applied to approximate the ..... continuous function over a compact set Ωz ... s. 1 s xc. ̇xc. {Φ0, 0 e }. { 0 c , 0 c , Q0 c }. {
Sep 9, 2018 - advanced mechanical arm system is needed to perform some exploratory and ... fault information; for example, in [38] a fault diagnosis via higher ...... tolerant H8 control of re-entry vehicle considering actuator and sensor faults ...
[10] Spofford, J., and Akin, D., âRedundancy Control of a Free-Flying Telerobot,â Proc. of the AIAA. Guidance, Navigation and Control Conference,. Minneapolis ...
This paper, according to practical method in robot manipulator control, in- ...
sumed that the model of manipulator Jacobian matrix from joint space to
Cartesian ...
controller can be used in different medical applications such as tele-surgery and tele-rehabilitation where the impedance of the robot in interaction with human ...
suitable application area. In [8] a higher ... 2 is well known in circuit theory and, in fact .... can be determined depending on the application at hand and then the ...Missing:
Robot manipulator is nonlinear, time variant and a number of parameters are uncertain ... Keywords: Inverse Dynamic Control, Sliding Mode Algorithm, Fuzzy Estimator Sliding Mode Control .... Fuzzy systems transfer expert knowledge to mathematical mod
Mar 8, 2018 - (30) is equal to the left. According to Barbalat's lemma [22], If one function ( ) is uniformly continuous on [0, +â) and its general integral.
We can also use ËkT J to check if too much ... too small) or if too much torque is required at a joint (an ..... level control(touch a given point) of the manipulator,.
Oct 1, 2013 - loop system are analytically proved using Lyapunov stability theory and Barbalat's lemma. Simulations are performed for a planner manipulator ...
International Journal of Information Technology Vol. 11 No. ... with a mobile manipulator: the total number of degrees of freedom (DOFs) is generally greater than.
Proceedings of the American Control Conference. Anchorage, AK May 8-1 0, ... classified into the following: D.C. motors, induction motors, synchronous motors ...
model developed using the NewtonâEuler method, and to compare an H2 ...... 7 Theodore, R. J. and Ghosal, A. Comparison of the assumed are required. Let Ï.
Nonlinear adaptive motion control for a manipulator with flexible joints
Lemma 3.1 :( Condition for positive Definiteness of a Symmetric. Matrix ). Given a matrix ..... and Ä will readily follow from Barbalat's Lemma (13). This concludes.
