نتایج جستجو برای: joint space controller

تعداد نتایج: 730510  

Journal: :Computación y Sistemas 2012
Roque Martínez Joaquín Álvarez-Gallegos

A technique to design a dynamic continuous controller to regulate a class of full-actuated mechanical systems with dry friction is proposed. It is shown that the control eliminates the steady-state error and is robust with respect to parameter uncertainties. A simple method to find the parameters of the controller is also proposed. Moreover, an application of this result to control a 2-DOF unde...

Journal: :Robotica 2000
Bojan Nemec Leon Zlajpah

Null space velocity control is essential for achieving good behaviour of a redundant manipulator. Using the dynamically consistent pseudo-inverse, the task and null space motion and forces are decoupled. The paper presents a globally stable null space velocity controller and the gradient projection technique in conjunction with the dynamically consistent pseudo-inverse. The physical meaning and...

Journal: :Auton. Robots 2008
Micha Hersch Aude Billard

We study a reaching movement controller for a redundant serial arm manipulator, based on two principles believed to be central to biological motion control: multireferential control and dynamical system control. The resulting controller is based on two concurrent dynamical systems acting on different, yet redundant variables. The first dynamical system acts on the end-effector location variable...

2007
Tatiana F.P.A.T. Pazelli Roberto S. Inoue Adriano A.G. Siqueira Marco H. Terra

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...

2013
Laurent Fribourg

Switched systems are embedded devices widespread in industrial applications such as power electronics and automotive control. They consist of continuous-time dynamical subsystems and a rule that controls the switching between them. Under a suitable control rule, the system can improve its steady-state performance and meet essential properties such as safety and stability in desirable operating ...

2013
Christine Choppy Jun Sun

Switched systems are embedded devices widespread in industrial applications such as power electronics and automotive control. They consist of continuous-time dynamical subsystems and a rule that controls the switching between them. Under a suitable control rule, the system can improve its steady-state performance and meet essential properties such as safety and stability in desirable operating ...

Journal: :CoRR 2017
Hung Pham Quang-Cuong Pham

Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose the controller into two components: (i) a path controller, which modulates the parameterization of the desired path in an online manner, yielding a reference t...

2005
Evren Gürkan Aydan M. Erkmen İsmet Erkmen

We analyze the stability of our novel 2-way fuzzy adaptive controller using describing function technique. We use additivity property of fuzzy systems to develop a systematic analytical approach for the design of a multi-input singleoutput fuzzy controller that we use for the control of a flexible-joint robot arm. Copyright c ©2005 IFAC

Journal: :journal of ai and data mining 2016
y. vaghei a. farshidianfar

in recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...

2002
Éva Gyurkovics Dmitri Svirko

This paper deals with the tracking control problem of flexible joint robots under the assumption that the link and robot positions are the only measured signals. A globally asymptotically stable state feedback controller and a nonlinear observer is proposed which guarantees the semiglobal asymptotic tracking of the system obtained by the designed dynamic output feedback controller. Examples ill...

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