Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics
نویسندگان
چکیده
منابع مشابه
Adaptive synchronised tracking control for multiple robotic manipulators with uncertain kinematics and dynamics
In this study, a new adaptive synchronized tracking control approach is developed for the operation of multiple robotic manipulators in the presence of uncertain kinematics and dynamics. In terms of the system synchronization and adaptive control, the proposed approach can stabilize position tracking of each robotic manipulator while coordinating its motion with the other robotic manipulators. ...
متن کاملAn Adaptive Impedance Controller for Robot Manipulators
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...
متن کاملAdaptive RBF network control for robot manipulators
TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...
متن کاملDistributed Task-space Tracking for Multiple Manipulators with Uncertain Dynamics and Kinematics
Abstract: This paper studies the task-space tracking problem for networked robot manipulators, while the dynamic and kinematic parameters of each manipulator are unknown. A velocity observer is first developed to estimate the task-space velocity, and reference sufficient conditions for observer parameters are also given to guarantee the convergence of observation error. Based on the proposed ob...
متن کاملAdaptive set-point control of robotic manipulators with amplitude-limited control inputs
This paper addresses the link position setpoint control problem of n–link robotic manipulators with amplitudelimited control inputs. We design a global-asymptotic exact model knowledge controller and a semi-global asymptotic controller which adapts for parametric uncertainty. Explicit bounds for these controllers can be determined; hence, the required input torque can be calculated a priori so ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2007
ISSN: 0018-9286
DOI: 10.1109/tac.2006.890321