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Robust Control Of A Flexible Joint Manipulator With Compliant External Contact Using A Hybrid Sliding Mode Mrac Technique
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Book Synopsis Robust Control of a Flexible Joint Manipulator with Compliant External Contact Using a Hybrid Sliding Mode-MRAC Technique by : David A. Frommer
Download or read book Robust Control of a Flexible Joint Manipulator with Compliant External Contact Using a Hybrid Sliding Mode-MRAC Technique written by David A. Frommer and published by . This book was released on 1994 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Advanced Studies of Flexible Robotic Manipulators by : Fei-Yue Wang
Download or read book Advanced Studies of Flexible Robotic Manipulators written by Fei-Yue Wang and published by World Scientific. This book was released on 2003 with total page 464 pages. Available in PDF, EPUB and Kindle. Book excerpt: Flexible robotic manipulators pose various challenges in research as compared to rigid robotic manipulators, ranging from system design, structural optimization, and construction to modeling, sensing, and control. Although significant progress has been made in many aspects over the last one-and-a-half decades, many issues are not resolved yet, and simple, effective, and reliable controls of flexible manipulators still remain an open quest. Clearly, further efforts and results in this area will contribute significantly to robotics (particularly automation) as well as its application and education in general control engineering. To accelerate this process, the leading experts in this important area present in this book the state of the art in advanced studies of the design, modeling, control and applications of flexible manipulators. Sample Chapter(s). Chapter 1: Flexible-link Manipulators: Modeling, Nonlinear Control and Observer (235 KB). Contents: Flexible-Link Manipulators: Modeling, Nonlinear Control and Observer (M A Arteaga & B Siciliano); Energy-Based Control of Flexible Link Robots (S S Ge); Trajectory Planning and Compliant Control for Two Manipulators to Deform Flexible Materials (O Al-Jarrah et al.); Force Control of Flexible Manipulators (F Matsuno); Experimental Study on the Control of Flexible Link Robots (D Wang); Sensor Output Feedback Control of Flexible Robot Arms (Z-H Luo); On GA Based Robust Control of Flexible Manipulators (Z-Q Xiao & L-L Cui); Analysis of Poles and Zeros for Tapered Link Designs (D L Girvin & W J Book); Optimum Shape Design of Flexible Manipulators with Tip Loads (J L Russell & Y-Q Gao); Mechatronic Design of Flexible Manipulators (P-X Zhou & Z-Q Xiao); A Comprehensive Study of Dynamic Behaviors of Flexible Robotic Links: Modeling and Analysis (Y-Q Gao & F-Y Wang). Readership: Researchers, lecturers and graduate students in robotics & automated systems, electrical & electronic engineering, and industrial engineering
Book Synopsis Robust Control of Flexible Joint Robot Manipulators by : John York Hung
Download or read book Robust Control of Flexible Joint Robot Manipulators written by John York Hung and published by . This book was released on 1989 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: The problem of robot manipulator controller design in the presence of joint flexibility is addressed. The specific goal is to design a controller that yields good tracking performance in spite of parametric uncertainty. Feedback linearization, robust observers, singular perturbation technique, and adaptive control are different approaches that are theoretically analyzed. Experimental results on a single-link, flexible joint arm are also presented. Although each controller has its advantages and drawbacks, all of the design methods yield improved performance when compared to controller designs based upon rigid joint models.
Book Synopsis Modeling and Robust Control of a Compliant Robotic Manipulator Via the Finite Element Method by : Louis Jackson Everett
Download or read book Modeling and Robust Control of a Compliant Robotic Manipulator Via the Finite Element Method written by Louis Jackson Everett and published by . This book was released on 1983 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Dynamics and Control of Robotic Manipulators with Contact and Friction by : Shiping Liu
Download or read book Dynamics and Control of Robotic Manipulators with Contact and Friction written by Shiping Liu and published by John Wiley & Sons. This book was released on 2018-11-15 with total page 243 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive guide to the friction, contact and impact on robot control and force feedback mechanism Dynamics and Control of Robotic Manipulators with Contact and Friction offers an authoritative guide to the basic principles of robot dynamics and control with a focus on contact and friction. The authors discuss problems in interaction between human and real or virtual robot where dynamics with friction and contact are relevant. The book fills a void in the literature with a need for a text that considers the contact and friction generated in robot joints during their movements. Designed as a practical resource, the text provides the information needed for task planning in view of contact, impact and friction for the designer of a robot control system for high accuracy and long durability. The authors include a review of the most up-to-date advancements in robot dynamics and control. It contains a comprehensive resource to the effective design and fabrication of robot systems and components for engineering and scientific purposes. This important guide: Offers a comprehensive reference with systematic treatment and a unified framework Includes simulation and experiments used in dynamics and control of robot considering contact, impact and friction Discusses the most current tribology methodology used to treat the multiple–scale effects Contains valuable descriptions of experiments and software used Presents illustrative accounts on the methods employed to handle friction in the closed loop, including the principles, implementation, application scope, merits and demerits Offers a cohesive treatment that covers tribology and multi-scales, multi-physics and nonlinear stochastic dynamics control Written for graduate students of robotics, mechatronics, mechanical engineering, tracking control and practicing professionals and industrial researchers, Dynamics and Control of Robotic Manipulators with Contact and Friction offers a review to effective design and fabrication of stable and durable robot system and components.
Book Synopsis Nonlinear Control of Rigid-link Flexible-joint Robotic Manipulators with Harmonic Drive Transmissions Using Integrator Backstepping by : Hyun Min Peck
Download or read book Nonlinear Control of Rigid-link Flexible-joint Robotic Manipulators with Harmonic Drive Transmissions Using Integrator Backstepping written by Hyun Min Peck and published by . This book was released on 1996 with total page 370 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Flexible-link Robot Manipulators by : M. Moallem
Download or read book Flexible-link Robot Manipulators written by M. Moallem and published by Springer. This book was released on 2014-03-12 with total page 161 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is concerned with the development and implementation of nonlinear mathematical techniques for feedback control and shape design of robot manipulators whose links have considerable structural flexibility. Several nonlinear control and observation techniques are studied and implemented by simulations and experiments in a laboratory setup. These techniques include integral manifolds in singular perturbation theory, nonlinear input-output decoupling, nonlinear observers and sliding control. The study of dynamic properties and control techniques for flexible-link manipulators can also be a framework for designing the mechanical shape and material of these systems such that improved properties can be achieved in order to facilitate the control problem. Therefore, structural shape optimization is considered as a means of improving the dynamic behaviour of flexible-link manipulators.
Download or read book Robotics Abstracts written by and published by . This book was released on 1990 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Robust Low-order Control of Flexible Joint Manipulators by : Joaquin Astorga
Download or read book Robust Low-order Control of Flexible Joint Manipulators written by Joaquin Astorga and published by . This book was released on 1990 with total page 238 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents the application of novel linear time invariant techniques to the design of low-order controllers for flexible joint manipulators. The nonlinear manipulator model is linearized via the perturbation method about an unstable operating point. Some nonlinear terms are treated as an external disturbance, and parametric uncertainty is represented as the structured uncertainty of the nominal plant. The $Hsb{infty}$-norm approach is then utilized to design a robust state feedback controller to stabilize the linear system and to give a specified bound on the disturbance rejection of the closed-loop system with enough robustness margin as to stabilize the actual nonlinear model. The nominal linear system with the state feedback controller determines the reference dynamics to be retained by the low-order controller based on the projective controls approach. The residual dynamics of the closed-loop system are selected under a suitable criterion to enhance disturbance rejection. The nonlinear model of the manipulator is also treated as a nonlinear system with structured uncertainty and sufficient conditions are determined for stability and disturbance rejection using linear state feedback and full-order controllers. Examples are given in the case of the one-link and two-link manipulators. The decentralized control option is also studied. The design of the controllers is based on a linear decoupled model obtained from the linearized model. The methodology here follows the same two phases of design used in the centralized case. Adaptive mechanisms are illustrated to improve the robust performance of the low-order decentralized control.
Book Synopsis Robust Control Design for Flexible Joint Manipulators by : Dong Hwan Kim
Download or read book Robust Control Design for Flexible Joint Manipulators written by Dong Hwan Kim and published by . This book was released on 1995 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Sliding Mode Control of Robotics Systems Actuated by Pneumatic Muscles by : Liang Yang
Download or read book Sliding Mode Control of Robotics Systems Actuated by Pneumatic Muscles written by Liang Yang and published by . This book was released on 2006 with total page 202 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation is concerned with investigating robust approaches for the control of pneumatic muscle systems. Pneumatic muscle is a novel type of actuator. Besides having a high ratio of power to weight and flexible control of movement, it also exhibits many analogical behaviors to natural skeletal muscle, which makes them the ideal candidate for applications of anthropomorphic robotic systems. In this dissertation, a new phenomenological model of pneumatic muscle developed in the Human Sensory Feedback Laboratory at Wright Patterson Air Force Base is investigated. The closed loop stability of a one-link planar arm actuated by two pneumatic muscles using linear state feedback is proved. Robotic systems actuated by pneumatic muscles are time-varying and nonlinear due to load variations and uncertainties of system parameters caused by the effects of heat. Sliding mode control has the advantage that it can provide robust control performance in the presence of model uncertainties. Therefore, it is mainly utilized and further complemented with other control methods in this dissertation to design the appropriate controller to perform the tasks commanded by system operation. First, a sliding mode controller is successfully proposed to track the elbow angle with bounded error in a one-Joint limb system with pneumatic muscles in bicep/tricep configuration. Secondly, fuzzy control, which aims to dynamically adjust the sliding surface, is used along with sliding mode control. The so-called fuzzy sliding mode control method is applied to control the motion of the end-effector in a two-Joint planar arm actuated by four groups of pneumatic muscles. Through computer simulation, the fuzzy sliding mode control shows very good tracking accuracy superior to nonfuzzy sliding mode control. Finally, a two joint planar arm actuated by four groups of pneumatic muscles operated in an assumed industrial environment is presented. Based on the model, an integral sliding mode control scheme is proposed as an ultimate solution to the control of systems actuated by pneumatic muscles. As the theoretical proof and computer simulations show, the integral sliding mode controller, with strong robustness to model uncertainties and external perturbations, is superior for performing the commanded control assignment. Based on the investigation in this dissertation, integral sliding mode control proposed here is a very promising robust control approach to handle systems actuated by pneumatic muscles.
Book Synopsis Robust Control Algorithms for Two-Link Flexible Manipulators by : Bidyadhar Subudhi
Download or read book Robust Control Algorithms for Two-Link Flexible Manipulators written by Bidyadhar Subudhi and published by . This book was released on 2024-10-18 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Various modelling and control of two-link flexible manipulators are presented in this book. The lumped parameter modelling method and the assumed modes method modelling are reviewed comprehensively. The book also reviews the trajectory tracking problem and tip trajectory tracking problem along with the suppression of tip deflection of the links. An exponential time varying signal and a chaotic signal are considered as the desired trajectories. The identical/non-identical slave manipulator is synchronised with the controlled master manipulator so that the slave manipulator indirectly follows the desired manipulator.
Book Synopsis Modeling and [mu]-synthesis Robust Control of Flexible Manipulators by : Mansour Karkoub
Download or read book Modeling and [mu]-synthesis Robust Control of Flexible Manipulators written by Mansour Karkoub and published by . This book was released on 1994 with total page 490 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Control of Flexible-link Manipulators Using Nonlinear H(infinity) Techniques by : Mohammad J. Yazdanpanah
Download or read book Control of Flexible-link Manipulators Using Nonlinear H(infinity) Techniques written by Mohammad J. Yazdanpanah and published by . This book was released on 1997 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Most engineering systems encountered in practice exhibit significant nonlinear behavior. For control of systems exhibiting nonlinearities, the normal design procedure is to construct a linearized approximation of the process model followed by the application of a linear control methodology. This procedure, however, can yield unsatisfactory performance, especially when the system is highly nonlinear and undergoes large motions, that is, it operates over wide nonlinear dynamical ranges, as is often the case in the problems of attitude control, advanced aircraft control, and the control of robotic manipulators. Furthermore, most systems are seldom completely known and therefore, their mathematical models should include some uncertain parts. The control of an uncertain system is required to be robust with respect to modeling uncertainties. Robust control strives to characterize the uncertainty in the model of the plant and to evaluate the degrees of freedom left to achieve the control task within specified bounds. This dissertation is concerned with the control of a highly complicated and nonlinear system, namely, a flexible-link manipulator. The general procedure taken in this regard is to develop, design and analyze nonlinear H ∞ techniques applied to flexible-link manipulators. For the purpose of robust control of an uncertain model of the flexible-link manipulator two types of modeling are studied. In the first type, uncertainty is due to parameter variations of the manipulator while performing a task or when its configuration is changing. The uncertainties considered in this regard may be L 2 bounded and/or constant. In the second type of modeling, a new look at, the notion of flexibility in robotic manipulators is presented. Based on this interpretation, flexible structures exhibit two kinds of behavior, one of which may be treated as a disturbance acting on the modeled dynamics. For designing the nonlinear H ∞ controller, the approximate polynomial solution of the Hamilton-Jacobi-Isaac (HJI) inequality for a general nonlinear system is derived. Also by exploiting the stability properties of perturbed systems, qualitative behavior of nonlinear H ∞ controllers is considered.
Book Synopsis Sliding Mode Control Using Novel Sliding Surfaces by : B. Bandyopadhyay
Download or read book Sliding Mode Control Using Novel Sliding Surfaces written by B. Bandyopadhyay and published by Springer. This book was released on 2009-10-14 with total page 147 pages. Available in PDF, EPUB and Kindle. Book excerpt: AfterasurveypaperbyUtkininthelate1970s,slidingmodecontrolmeth- ologies emerged as an e?ective tool to tackle uncertainty and disturbances which are inevitable in most of the practical systems. Sliding mode control is a particular class of variable structure control which was introduced by Emel’yanov and his colleagues. The design paradigms of sliding mode c- trol has now become a mature design technique for the design of robust c- troller of uncertain system. In sliding mode technique, the state trajectory of the system is constrained on a chosen manifold (or within some neighb- hood thereof) by an appropriatecontrolaction. This manifold is also called a switching surface or a sliding surface. During sliding mode, system dynamics is governed by the chosen manifold which results in a well celebrated inva- ance property towards certain classes of disturbance and model mismatches. The purpose of this monograph is to give a di?erent dimension to sl- ing surface design to achieve high performance of the system. Design of the switching surface is vital because the closed loop dynamics is governed by the parameters of the sliding surface. Therefore sliding surface should be - signed to meet the closed loop speci?cations. Many systems demand high performance with robustness. To address this issue of achieving high perf- mance with robustness, we propose nonlinear surfaces for di?erent classes of systems. The nonlinear surface is designed such that it changes the system’s closed-loop damping ratio from its initial low value to a ?nal high value.
Book Synopsis Linear Robust Trajectory Control of Flexible Joint Manipulators by : Aiping Yu
Download or read book Linear Robust Trajectory Control of Flexible Joint Manipulators written by Aiping Yu and published by . This book was released on 1998 with total page 82 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Design of Adaptive Sliding Mode Fuzzy Control for Robot Manipulator Based on Extended Kalman Filter by : Abdelrahman Aledhaibi
Download or read book Design of Adaptive Sliding Mode Fuzzy Control for Robot Manipulator Based on Extended Kalman Filter written by Abdelrahman Aledhaibi and published by . This book was released on 2000 with total page 290 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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