Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators
نویسندگان
چکیده
منابع مشابه
Experimental Investigation on Adaptive Robust Controller Designs Applied to Constrained Manipulators
In this paper, two interlaced studies are presented. The first is directed to the design and construction of a dynamic 3D force/moment sensor. The device is applied to provide a feedback signal of forces and moments exerted by the robotic end-effector. This development has become an alternative solution to the existing multi-axis load cell based on static force and moment sensors. The second on...
متن کاملA robust adaptive controller for robot manipulators
In the present paper we propose a globally convergent adaptive control scheme for robot motion control with the following features: First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Secondly, the controllex does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Thirdly, we derive fo...
متن کاملMixed Model Based/ANFIS Adaptive Robust Controller with H∞ Criterion Applied to Free-Floating Space Manipulators
This paper deals with the problem of robust trajectory tracking control, with a guaranteedH∞ performance, for free-floating manipulator systems. A control strategy is developed based on the robot mathematical model and a fuzzy adaptive approach. The dynamic model of the free-floating space manipulator is described via the Dynamically Equivalent Manipulator approach. The fuzzy adaptive control l...
متن کاملMixed Model Based/fuzzy Adaptive Robust Controller with H∞ Criterion Applied to Free-floating Space Manipulators
This paper deals with the problem of robust trajectory tracking control, with a guaranteed H∞ performance, for free-floating manipulator systems. A new control strategy is developed based on the robot mathematical model and a fuzzy adaptive control law. The dynamic model of the free-floating space manipulator is described through the Dynamically Equivalent Manipulator approach. The fuzzy adapti...
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 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: Sensors
سال: 2013
ISSN: 1424-8220
DOI: 10.3390/s130405181