Learning Control of Robot Manipulators in Task Space
Sign Up to like & getrecommendations! Published in 2018 at "Asian Journal of Control"
DOI: 10.1002/asjc.1648
Abstract: Two important properties of industrial tasks performed by robot manipulators, namely, periodicity (i.e., repetitive nature) of the task and the need for the task to be performed by the end-effector, motivated this work. Not being… read more here.
Keywords: robot manipulator; task space; control; robot manipulators ... See more keywords
Adaptive tracking control of robot manipulators with input saturation and time‐varying output constraints
Sign Up to like & getrecommendations! Published in 2020 at "Asian Journal of Control"
DOI: 10.1002/asjc.2305
Abstract: This paper investigates adaptive tracking control in task space for robot manipulators with uncertain system dynamics, input saturation, and time‐varying output constraints simultaneously. An auxiliary system is constructed to compensate the effect of the input… read more here.
Keywords: varying output; time varying; adaptive tracking; robot manipulators ... See more keywords
Cooperative deterministic learning control for a group of homogeneous nonlinear uncertain robot manipulators
Sign Up to like & getrecommendations! Published in 2018 at "Science China Information Sciences"
DOI: 10.1007/s11432-017-9363-y
Abstract: This paper addresses the learning control problem for a group of robot manipulators with homogeneous nonlinear uncertain dynamics, where all the robots have an identical system structure but the reference signals to be tracked differ.… read more here.
Keywords: control; nonlinear uncertain; homogeneous nonlinear; robot manipulators ... See more keywords
Global adaptive tracking control of robot manipulators using neural networks with finite-time learning convergence
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-016-0515-7
Abstract: In this paper, the global adaptive neural control with finite-time (FT) convergence learning performance for a general class of nonlinear robot manipulators has been investigated. The scheme proposed in this paper offers a subtle blend… read more here.
Keywords: finite time; neural networks; control; time ... See more keywords
Sliding mode control of position commanded robot manipulators
Sign Up to like & getrecommendations! Published in 2018 at "Control Engineering Practice"
DOI: 10.1016/j.conengprac.2018.09.011
Abstract: Abstract This paper investigates the method of implementing dynamic controller on a manipulator which do not have direct drive joints. A previously proposed torque to position conversion method for servo actuated robot manipulators is used… read more here.
Keywords: sliding mode; control; position; controller ... See more keywords
On the modeling and identification of stiffness in cable-based mechanical transmissions for robot manipulators
Sign Up to like & getrecommendations! Published in 2017 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2016.10.020
Abstract: Abstract In this paper, we consider cable-based motor-to-joint transmissions which are known to introduce flexibility phenomena in the dynamic behaviour of robot manipulators. Their effects have to be taken into account for modeling and control… read more here.
Keywords: modeling identification; cable based; stiffness; cable ... See more keywords
Computationally efficient dynamic modeling of robot manipulators with multiple flexible-links using acceleration-based discrete time transfer matrix method
Sign Up to like & getrecommendations! Published in 2018 at "Robotics and Computer-integrated Manufacturing"
DOI: 10.1016/j.rcim.2017.06.010
Abstract: Abstract This paper presents a novel and computationally efficient modeling method for the dynamics of flexible-link robot manipulators. In this method, a robot manipulator is decomposed into components/elements. The component/element dynamics is established using Newton–Euler… read more here.
Keywords: acceleration based; method; robot; robot manipulators ... See more keywords
Experimental parameter identification of flexible joint robot manipulators
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DOI: 10.1017/s0263574717000224
Abstract: SUMMARY This paper contributes by presenting a parameter identification procedure for n-degrees-of-freedom flexible joint robot manipulators. An advantage of the given procedure is the obtaining of robot parameters in a single experiment. Guidelines are provided… read more here.
Keywords: parameter identification; flexible joint; joint robot; robot manipulators ... See more keywords
Virtual Simulation and Experimental Verification for 3D-printed Robot Manipulators
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DOI: 10.1017/s0263574720000417
Abstract: SUMMARY The objective of this work is to construct a robot that is based on 3D printing to meet the low-cost and light structures. The Computer-aided-design model is used with LabVIEW to simulate the given… read more here.
Keywords: printed robot; verification printed; experimental verification; robot manipulators ... See more keywords
Consensus in networks of uncertain robot manipulators without using neighbors’ velocity information
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DOI: 10.1017/s0263574721000643
Abstract: Abstract In this paper, new distributed adaptive methods are proposed for solving both leaderless and leader–follower consensus problems in networks of uncertain robot manipulators, by estimating only the gravitational torque forces. Comparing with the existing… read more here.
Keywords: velocity information; networks uncertain; consensus; uncertain robot ... See more keywords
Similarity Analysis Between a Nonmodel-Based Disturbance Observer and a Time-Delayed Controller for Robot Manipulators in Cartesian Space
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DOI: 10.1109/access.2021.3109568
Abstract: Disturbance observer (DOB) techniques are effective and practical methods for rejecting disturbances in motion control applications. Nonlinear DOBs that are based on dynamic models are employed to apply the robust control technique to robot manipulators… read more here.
Keywords: disturbance observer; robot manipulators; time delayed; robot ... See more keywords