Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking
نویسندگان
چکیده
منابع مشابه
An 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 کاملVariable Impedance Control for Rehabilitation Robot using Interval Type-2 Fuzzy Logic
In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...
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 کاملAdaptive Decentralized Compliant Control of Robot Manipulators
In this paper, we develop an adaptive decentralized compliant control of robot manipulator. The robot manipulator is in contact with the environment and the contact force is normal to the contact plane. When the environment stiffness is given, an adaptive decentralized compliant controller is designed based on a Lyapunov based method such that both the force tracking error and the complementary...
متن کاملAdaptive Tracking Control Algorithm for Picking Wheel Robot
The objective of the paper is to investigate walking stability of picking wheel robot in the fields of medium speed and high load complex operating environment. Firsly, we analyze the influence on walking control for simplified dynamic model of picking robot and its remaining (instabilities), guarantee the stability and convergence of simplified system for tracking errors using the Lyapunov the...
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: Complexity
سال: 2020
ISSN: 1076-2787,1099-0526
DOI: 10.1155/2020/4812657