نتایج جستجو برای: electrically driven robot manipulators

تعداد نتایج: 344821  

In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...

A. Zarif Loloei H. D. Taghirad N. N. Kouchmeshky

Workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

2015
M. M. Fateh S. M. Ahmadi S. Khorashadizadeh

The 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 (RBF network) as an uncertainty estimator. The ...

Journal: :journal of advances in computer research 2014
behnaz hadi alireza khosravi abolfazl ranjbar n. pouria sarhadi

in this paper, a robust integral of the sign error (rise) feedback controller is designed for a rigid-link electrically driven (rled) robot manipulator actuated by direct current dc motor in presence of parametric uncertainties and additive disturbances. rise feedback with implicitly learning capability is a continuous control method based on the lyapunov stability analysis to compensate an add...

2001
Marcel Honegger Peter I. Corke

Model-based controllers have successfully been applied to many electrically driven robotic manipulators to improve their tracking performance. The application to hydraulically actuated systems however is not straight forward, due to the nonlinear internal dynamics of the actuators. This paper presents the modelling of an experimental hydraulic robot arm and the implementation of a cascaded cont...

Journal: :journal of modern processes in manufacturing and production 0
mohammad goodarzi 1department of electrical engineering, faculty of engineering, garmsar branch, islamic azad university,garmsar, iran

this paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. the proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. as a result, the proposed controller is simple, fast response and superior to the torque c...

Journal: :Journal of Intelligent & Robotic Systems 2014

Journal: :IEEE Trans. Robotics and Automation 1998
Chen-Yi Su Yury Stepanenko

In a recent work of [16], a hybrid adaptive controller for rigid-link electrically-driven robot manipulators was proposed. Semiglobal asymptotic stability of the controller was established in the Lyapunov sense. However, there are two limitations in it. One is that the controller requires the joint velocity measurements, that with the required accuracy can be difficult to realize in practical a...

Journal: :IEEE Trans. Robotics and Automation 1995
Chun-Yi Su Yury Stepanenko

A learning control scheme for a class of robot manipulatorswhose endpoint is moving under geometrical constraints on a surfaceis proposed. In this scheme, the input torque command is composed oftwo different signals updated separately at every trial by different ways.One is updated by the angular velocity error vector which is projectedto the tangent plane of the constraint ...

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