نتایج جستجو برای: robust task space control

تعداد نتایج: 2168843  

Journal: :Automatica 2013
Xiang Li Chien Chern Cheah

Task-space feedback information such as visual feedback is used in many modern robot control systems as it improves robustness to model uncertainty. However, existing task-space feedback control schemes are only valid locally in a finite task space within a limited sensing zone where the singularity of the Jacobian matrix can be avoided. The global stability problem of task-space control system...

2006
Víctor Mosquera Andrés Vivas

This paper presents a robust control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. The design of the controller is based on the Lyapunov function and the control law that is designed to compensate the uncertainties arising from unknown robot parameters and unknown payload. Major simulations results using numerical values of an industrial SCARA robo...

Many space applications require robotic manipulators which have large workspace and are capable of precise motion. Micro-macro manipulators are considered as the best solution to this demand. Such systems consist of a long flexible arm and a short rigid arm. Kinematic redundancy and presence of unactuated flexible degrees of freedom, makes it difficult to control micro-macro manipulators. This ...

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...

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...

2011
Nikolay Jetchev Marc Toussaint

Learning complex skills by repeating and generalizing expert behavior is a fundamental problem in robotics. A common approach is learning from demonstration: given examples of correct motions, learn a policy mapping state to action consistent with the training data. However, the usual approaches do not answer the question of what are appropriate representations to generate motions for specific ...

پایان نامه :وزارت علوم، تحقیقات و فناوری - دانشگاه تربیت مدرس 1386

چکیده ندارد.

Journal: :IEEE Trans. Contr. Sys. Techn. 1994
Jonathan P. How Steven R. Hall Wassim M. Haddad

Abstruct-The purpose of this paper is to demonstrate robust compensators designed using Popov controller synthesis on the Middeck Active Control Experiment (MACE): a Shuttle program scheduled for flight in January, 1995. The experiment has been designed to investigate the extent to which the on-orbit behavior of a precision-controlled spacecraft can be predicted and controlled using analysis an...

Journal: :international journal of environmental research 2012
r. aguilar-lópez p.a. lópez-pérez v. peña-caballero r. maya-yescas

the main task of this work is related with the design of a class of siso robust control law for theregulation of substrate concentration (cdo) of an industrial activated sludge wastewater plant. the controldesign is related with an uncertainty estimator (reduced order observer) based active control. departing from the tracking error between the desired and the current substrate concentrations t...

Journal: :international journal of environmental research 0
r. aguilar-lópez department of biotechnology & bioengineering, cinvestav-ipn, av. instituto politécnico p.a. lópez-pérez department of biotechnology & bioengineering, cinvestav-ipn, av. instituto politécnico nacional 2508, col. san pedro zacatenco, delegación gustavo a. madero, méxico v. peña-caballero department of biotechnology & bioengineering, cinvestav-ipn, av. instituto politécnico nacional 2508, col. san pedro zacatenco, delegación gustavo a. madero, méxico r. maya-yescas school of chemical engineering, universidad michoacana de san nicolás de hidalgo, ciudad universitaria, morelia, michoacán, méxico

the main task of this work is related with the design of a class of siso robust control law for theregulation of substrate concentration (cdo) of an industrial activated sludge wastewater plant. the controldesign is related with an uncertainty estimator (reduced order observer) based active control. departing from the tracking error between the desired and the current substrate concentrations t...

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