Adaptive finite‐time super‐twisting sliding mode control for robotic manipulators with control backlash
Sign Up to like & getrecommendations! Published in 2021 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.5744
Abstract: This article aims at the problem of trajectory tracking for industrial robotic manipulators with control backlash. An arctangent terminal sliding mode surface is developed to deal with the lumped disturbance and enhance the robustness of… read more here.
Keywords: finite time; super twisting; robotic manipulators; sliding mode ... See more keywords
Adaptive second-order fast nonsingular terminal sliding mode control for robotic manipulators.
Sign Up to like & getrecommendations! Published in 2019 at "ISA transactions"
DOI: 10.1016/j.isatra.2018.12.046
Abstract: This paper presents an adaptive chattering-free sliding mode controller for trajectory tracking of robotic manipulators in the presence of external disturbances and inertia uncertainties. To achieve fast convergence and desirable tracking precision, a second-order fast… read more here.
Keywords: sliding mode; second order; control; robotic manipulators ... See more keywords
Extending the capabilities of robotic manipulators using trajectory optimization
Sign Up to like & getrecommendations! Published in 2018 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2017.09.016
Abstract: Abstract The payload capacity of robotic manipulators is often considered to be the same throughout their workspace. However, the actual capacity largely depends on posture, velocity, acceleration and actuator limits. This work studies a method… read more here.
Keywords: extending capabilities; trajectory optimization; capacity; robotic manipulators ... See more keywords
On the stiffness analysis of robotic manipulators and calculation of stiffness indices
Sign Up to like & getrecommendations! Published in 2018 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2018.08.025
Abstract: Abstract This paper aims at introducing new performance indices for robotic manipulators in order to evaluate the robot stiffness at the design embodiment stage. In this regard, the calculation of the Cartesian stiffness matrix of… read more here.
Keywords: stiffness; robotic manipulators; calculation; stiffness analysis ... See more keywords
New repetitive motion planning scheme with cube end-effector planning precision for redundant robotic manipulators
Sign Up to like & getrecommendations! Published in 2021 at "Robotica"
DOI: 10.1017/s0263574721001119
Abstract: Abstract Repetitive motion planning (RMP) is important in operating redundant robotic manipulators. In this paper, a new RMP scheme that is based on the pseudoinverse formulation is proposed for redundant robotic manipulators. Such a scheme… read more here.
Keywords: robotic manipulators; redundant robotic; scheme; repetitive motion ... See more keywords
Remote monitoring and control of the 2-DoF robotic manipulators over the internet
Sign Up to like & getrecommendations! Published in 2022 at "Robotica"
DOI: 10.1017/s0263574722001035
Abstract: Abstract This article is concerned with remote monitoring and control of the 2-degrees of freedom (DoF) robotic manipulators, which have nonlinear dynamics over the packet erasure channel, which is an abstract model for communication over… read more here.
Keywords: control; robotic manipulators; monitoring control; dof robotic ... See more keywords
A review of computer vision for semi-autonomous control of assistive robotic manipulators (ARMs)
Sign Up to like & getrecommendations! Published in 2019 at "Disability and Rehabilitation: Assistive Technology"
DOI: 10.1080/17483107.2019.1615998
Abstract: Abstract Purpose: The advances in artificial intelligence have started to reach a level where autonomous systems are becoming increasingly popular as a way to aid people in their everyday life. Such intelligent systems may especially… read more here.
Keywords: assistive robotic; control; robotic manipulators; autonomous control ... See more keywords
Disturbance Observer-Based Consensus Control for Multiple Robotic Manipulators
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Access"
DOI: 10.1109/access.2018.2869392
Abstract: In this paper, a new distributed consensus control algorithm for multiple robotic manipulators is proposed. Comparing with the existing works, this paper studies the consensus problem of multiple robotic manipulators with unknown disturbances, and the… read more here.
Keywords: consensus control; robotic manipulators; disturbance observer; multiple robotic ... See more keywords
A Precise Neural-Disturbance Learning Controller of Constrained Robotic Manipulators
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DOI: 10.1109/access.2021.3069229
Abstract: An adaptive robust controller is introduced for high-precision tracking control problems of robotic manipulators with output constraints. A nonlinear function is employed to transform the constrained control objective to new free variables that are then… read more here.
Keywords: robotic manipulators; control; precise neural; neural disturbance ... See more keywords
Sim2real Learning of Obstacle Avoidance for Robotic Manipulators in Uncertain Environments
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2021.3116700
Abstract: Obstacle avoidance for robotic manipulators can be challenging when they operate in unstructured environments. This problem is probed with the sim-to-real (sim2real) deep reinforcement learning, such that a moving policy of the robotic arm is… read more here.
Keywords: learning obstacle; robotic manipulators; obstacle avoidance; avoidance robotic ... See more keywords
Tracking of Uncertain Robotic Manipulators Using Event-Triggered Model Predictive Control With Learning Terminal Cost
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2022.3152166
Abstract: This paper presents an event-triggered model predictive control (MPC) strategy with learning terminal cost for robotic manipulators containing model uncertainty and input constraints. In the proposed MPC structure, an adaptive predictive model for the robotic… read more here.
Keywords: event triggered; control; robotic manipulators; model ... See more keywords