Author: Hamadi Jamali
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
Book Description
A new adaptive control law for mechanical manipulators that maintains uniformly good performance over a wide range of motions and payloads is developed. This control strategy combines properties from both the Model Reference Adaptive Control and the Self Tuning Regulator Theory and serves to extend the Adaptive Model Following Control approach into using a nonlinear reference model. The design procedure is simple resulting in an overall system which is globally stable and offers itself to microcomputer implementation. The effectiveness of the approach is demonstrated on several computer simulations which compares its performances against some of the commonly known adaptive control techniques. Also presented is a comparison of the computation complexity of different methods used in deriving the dynamic equations of motion of a mechanical manipulator as well as a survey of various robot control methodologies available in the literature today. Automatic control systems, Identification, Adaptive control and robotics. (EG).
Adaptive Control Methods for Mechanical Manipulators
Author: Hamadi Jamali
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
Book Description
A new adaptive control law for mechanical manipulators that maintains uniformly good performance over a wide range of motions and payloads is developed. This control strategy combines properties from both the Model Reference Adaptive Control and the Self Tuning Regulator Theory and serves to extend the Adaptive Model Following Control approach into using a nonlinear reference model. The design procedure is simple resulting in an overall system which is globally stable and offers itself to microcomputer implementation. The effectiveness of the approach is demonstrated on several computer simulations which compares its performances against some of the commonly known adaptive control techniques. Also presented is a comparison of the computation complexity of different methods used in deriving the dynamic equations of motion of a mechanical manipulator as well as a survey of various robot control methodologies available in the literature today. Automatic control systems, Identification, Adaptive control and robotics. (EG).
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
Book Description
A new adaptive control law for mechanical manipulators that maintains uniformly good performance over a wide range of motions and payloads is developed. This control strategy combines properties from both the Model Reference Adaptive Control and the Self Tuning Regulator Theory and serves to extend the Adaptive Model Following Control approach into using a nonlinear reference model. The design procedure is simple resulting in an overall system which is globally stable and offers itself to microcomputer implementation. The effectiveness of the approach is demonstrated on several computer simulations which compares its performances against some of the commonly known adaptive control techniques. Also presented is a comparison of the computation complexity of different methods used in deriving the dynamic equations of motion of a mechanical manipulator as well as a survey of various robot control methodologies available in the literature today. Automatic control systems, Identification, Adaptive control and robotics. (EG).
Adaptive Control of Mechanical Manipulators
Author: John J. Craig
Publisher: Addison Wesley Publishing Company
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 152
Book Description
Publisher: Addison Wesley Publishing Company
ISBN:
Category : Technology & Engineering
Languages : en
Pages : 152
Book Description
Adaptive Control for Robotic Manipulators
Author: Dan Zhang
Publisher: CRC Press
ISBN: 1498764886
Category : Science
Languages : en
Pages : 441
Book Description
The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Publisher: CRC Press
ISBN: 1498764886
Category : Science
Languages : en
Pages : 441
Book Description
The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Adaptive Control of Mechanical Manipulators
Author: Nader Sadegh
Publisher:
ISBN:
Category :
Languages : en
Pages : 236
Book Description
Publisher:
ISBN:
Category :
Languages : en
Pages : 236
Book Description
Adaptive Control of Mechanical Manipulators
Author: John James Craig
Publisher:
ISBN:
Category :
Languages : en
Pages : 316
Book Description
Publisher:
ISBN:
Category :
Languages : en
Pages : 316
Book Description
Model Reference Adaptive Control of Mechanical Manipulators
Author: Roberto Horowitz
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 524
Book Description
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 524
Book Description
Adaptive Control for Robotic Manipulators
Author: Dan Zhang
Publisher: CRC Press
ISBN: 1351678922
Category : Science
Languages : en
Pages : 407
Book Description
The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Publisher: CRC Press
ISBN: 1351678922
Category : Science
Languages : en
Pages : 407
Book Description
The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.
Model Reference Adaptive Control of Manipulators
Author: D. P. Stoten
Publisher: Wiley
ISBN: 9780471926238
Category : Technology & Engineering
Languages : en
Pages : 207
Book Description
This research study presents the author's recent research on the control of mechanical manipulators, offering an account of the latest advances in this area of the robotics field. Confirms the robustness of the Model Reference Adaptive Control (MRAC) and Minimal Controller Synthesis (MCS) algorithms applied to manipulators, using analytical as well as realistic nonlinear simulation techniques. Special attention is paid to the robustness proofs of MRAC and MCS and to the excellent results obtained from closed-loop simulation studies. The concepts of adaptive control are emphasized rather than the dynamic modeling of manipulators.
Publisher: Wiley
ISBN: 9780471926238
Category : Technology & Engineering
Languages : en
Pages : 207
Book Description
This research study presents the author's recent research on the control of mechanical manipulators, offering an account of the latest advances in this area of the robotics field. Confirms the robustness of the Model Reference Adaptive Control (MRAC) and Minimal Controller Synthesis (MCS) algorithms applied to manipulators, using analytical as well as realistic nonlinear simulation techniques. Special attention is paid to the robustness proofs of MRAC and MCS and to the excellent results obtained from closed-loop simulation studies. The concepts of adaptive control are emphasized rather than the dynamic modeling of manipulators.
RESOLVED MOTION ADAPTIVE CONTROL FOR MECHANICAL MANIPULATORS
Author: C.S.G LEE, B.H. LEE
Publisher:
ISBN:
Category :
Languages : en
Pages : 25
Book Description
Publisher:
ISBN:
Category :
Languages : en
Pages : 25
Book Description
Resolved Motion Adaptive Control for Mechanical Manipulators
Author: C. S. George Lee
Publisher:
ISBN:
Category :
Languages : en
Pages :
Book Description
Publisher:
ISBN:
Category :
Languages : en
Pages :
Book Description