Comparative experiments with a new adaptive controller for robot arms
نویسندگان
چکیده
منابع مشابه
Comparative Experiments with a New Adaptive Controller for Robot Arms
[32] Nader Sadegh and Roberto Horowitz. Stability and robustness analysis of a class of adaptive controllers for robotic manipulators. [40] John T. Wen and David S. Bayard. Robust control for robotic manipulators part ii: Adaptive case. Comparative experiments with a new adaptive controller for robot arms.
متن کاملComparative experiments with a new adaptive controller for robot arms
This paper presents a new model-based adaptive controller and proof of its global asymptotic stability with respect to the standard rigid-body model of robot-arm dynamics. Experimental data from a study of one new and several established globally asymptotically stable adaptive controllers on two very different robot arms 1) demonstrate the superior tracking performance afforded by the model-bas...
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abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...
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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...
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,2= Abstract In this paper, we address the control problem of multiple robots manipulating a load cooperatively. First we propose a controller that ensures the asymptotic convergence of the load position and the internal forces to their desired values. Next we propose an adaptive control scheme for the multi-robot system. The adaptive controller ensures the asymptotic convergence of the load po...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 1993
ISSN: 1042-296X
DOI: 10.1109/70.210795