Bio-mimetic Trajectory Tracking Control of Tendon driven Robot Using Delayed Force Feedback
نویسندگان
چکیده
منابع مشابه
Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملTrajectory Tracking Control of Robot Manipulators
In this paper a simulink based approach is developed for trajectory tracking of robot manipulator. A robot manipulator is widely used in many industrial application. A robot manipulator moves the end effector to the configuration instructed by the user. The input from the main unit is transformed in to the desired configuration through forward kinematics. This configuration is sent to the robot...
متن کاملTrajectory Tracking of a Mobile Robot Using Fuzzy Logic Tuned by Genetic Algorithm (TECHNICAL NOTE)
In recent years, soft computing methods, like fuzzy logic and neural networks have been presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions an...
متن کاملBio-mimetic trajectory generation using a neural time-base generator
This paper presents a neural time-base generator TBG that can generate a family of neural control signals with a controllable finite duration and bell-shaped velocity profile. Then, a bio-mimetic trajectory generation method using the neural TBG model is explained. Using the proposed model, the generation ability of human-like trajectories is examined through comparisons between computer simula...
متن کاملWheeled Mobile Robot Trajectory Tracking using Sliding Mode Control
Corresponding Author: Azza El-Sayed Bayoumi Ibrahim Department of Computers and Systems, Electronics Research Institute, Giza, Egypt Email: [email protected] Abstract: This paper introduces and discusses a control strategy for nonholonomic wheeled mobile robots. The models of the robots include the kinematic and dynamic equations of motion. Trajectory tracking control problem of parallel wheeled ...
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: Transactions of the Institute of Systems, Control and Information Engineers
سال: 2007
ISSN: 1342-5668,2185-811X
DOI: 10.5687/iscie.20.387