Neural network adaptive force and motion control of robot manipulators in the operational space formulation

... presents the review of the existing adaptive control works as follows: the joint space direct LIP adaptive control, the operational space direct LIP motion control and the original joint space NN ... element of the link mass, three elements of the ﬁrst moments (by product of the link mass times the coordinates of the center -of- mass), six elements of the inertia tensor and one element of the motor ... based adaptive control • Chapter four presents a neuro -adaptive motion controller in the operational space by extending and improving the original three-layer NN adaptive joint space motion control...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 1 ppt

... Advanced Textbooks in Control and Signal Processing series ISSN 14 3 9-2 232 ISBN -1 0 : 1- 8 523 3-9 9 4-2 ISBN -1 3 : 97 8 -1 -8 523 3-9 9 4-4 Springer Science+Business Media springeronline.com © Springer-Verlag London ... Library Cataloguing in Publication Data Kelly, R Control of robot manipulators in joint space - (Advanced textbooks in control and signal processing) Robots - Control systems Manipulators (Mechanism) ... Graph of position errors against time 237 Problem Cartesian 2-DOF robot 239 11 .1 11. 2 11 .3 11 .4 11 .5 Block-diagram: PD control with compensation...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 2 potx

... variables and time See Chapter 12 What Does Control of Robots” Involve? tailored for linear systems, in robot control In view of this and the present requirements of precision and rapidity of robot ... y corresponds to the ˙ joint position q and velocity q, we refer to the control objectives as “position control in joint coordinates” and “motion control in joint coordinates” respectively Or ... mention the so-called passivity-based control, variable-structure control, learning control, fuzzy control and neural-networks-based These topics, which demand a deeper knowledge of control and stability...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 3 doc

... revolute and prismatic In this textbook we consider robot manipulators formed by an open kinematic chain as illustrated in Figure 3. 1 q3 z0 z2 link joint link joint q1 joint n z3 q2 z1 zn link n ... Example 3. 1 Figure 3. 2 shows a 4-DOF manipulator The placement of the axes zi as well as the joint coordinates, are illustrated in this ﬁgure ♦ The joint positions corresponding to each joint of the ... Consequently, for a robot with n joints, that is, with n DOF (except for special cases, such as elastic-joints or ﬂexible-link robots), the vector of joint positions q has n elements: Robot Dynamics...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 4 docx

... controllers and to analyze the stability, in the sense of Lyapunov, of the equilibria of the closed-loop system In anticipation of the material in later chapters of this text and in support of ... deﬁnition of 3 .4 Dynamic Model of Elastic -joint Robots 77 sign(0) is crucial both from theoretical and practical viewpoints, in position control (i.e when the control objective is to maintain a constant ... interested in the proof of Inequality (4. 2) is invited to see Appendix C 4. 2 The Centrifugal and Coriolis Forces Matrix 97 An obvious consequence of Property 4. 1 and, in particular of the fact...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 5 pot

... are given in joint coordinates and we measure joint coordinates This is what is called control in joint space Thus, we leave the topic of kinematics to pass to the stage of modeling that is ... Length of Link l1 0.26 m Length of Link l2 0.26 m Distance to the center of mass (Link 1) lc1 0.0983 m Distance to the center of mass (Link 2) lc2 0.0229 m Mass of Link m1 6 .52 25 kg Mass of Link ... Kinematics The inverse kinematic model of robot manipulators is of great importance from a practical viewpoint This model allows us to obtain the joint positions q in terms of the position and...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 6 potx

... velocity and ¨ ˙ acceleration, q d and q d 6. 1 Robots without Gravity Term 143 We present next an analysis of PD control for n-DOF robot manipulators The behavior of an n-DOF robot in closed-loop ... structure and should not be reference-dependent In spite of the veracity of the statement above, in the literature on robot control one ﬁnds that the control laws (6. 1) and (6. 2) are indistinctly ... applied at a particular joint, depends only on the position and velocity of the joint in question and not on those of the other joints Mathematically, this is translated by the choice of diagonal...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 7 pdf

... Paden B., Panja R., 1988, “Globally asymptotically stable PD+ controller for robot manipulators , International Journal of Control, Vol 47, No 6, pp 16 97 171 2 The analysis of the PD control with ... compensation of robot manipulators • Spong M., Vidyasagar M., 1989, Robot dynamics and control , John Wiley and Sons • Yoshikawa T., 1990, “Foundations of robotics: Analysis and control , The ... trajectory tracking of robot motion?”, in Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Philadelphia, PA., pp 1335–1340, April Problems Consider the PD control with...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 9 ppt

... Proceedings of the 27th IEEE Conference on Decision and Control, Austin, TX., December, Vol 1, pp 1 598 –1603 Kelly R., Carelli R., Ortega R., 198 9 “Adaptive motion control design of robot manipulators: ... M., 198 9, Robot dynamics and control , John Wiley and Sons Yoshikawa T., 199 0, “Foundations of robotics: Analysis and control , The MIT Press The stability analysis for the computed-torque controller ... feedback-linearization based controllers is that the stability theory of linear systems is far more developed than that of nonlinear systems In particular, the tuning of the gains of such controllers...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 10 pps

... feedforward control is (robot- ) ‘model-based’ The interest in a controller of this type resides in the advantages that it oﬀers in implementation Indeed, ˙ ¨ having determined q d , q d and q d (in particular ... Journal of Robotics Research, Vol 7, No 1, pp 18–28 Kokkinis T., Stoughton R., 1991, “Dynamics and control of a closed-chain robot with application to a new direct-drive robot arm”, International ... “Identiﬁcation of dynamic parameters and feedforward control for conventional industrial manipulators , Control Engineering Practice, Vol 2, No 6, pp 103 9 105 0 284 • 12 Feedforward Control and PD Control...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 11 doc

... proof of global asymptotic stability of the origin of the closed-loop system, was ﬁrst solved for one-degree -of- freedom robots (including a term that is quadratic in the velocities) in • Lor´ A., ... and La Salle’s Theorem 2.7 This controller was proposed and analyzed in Kelly R., Ortega R., Ailon A., Loria A., 1994, “Global regulation of ﬂexible joint robots using approximate differentiation”, ... considered as part of the last link) is of uncertain mass and/ or inertia The consequence in this situation cannot be overestimated; due to the uncertainty in some of the parameters of the robot model...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 12 doc

... approach is of special interest in the case of paramet- 334 14 Introduction to Adaptive Robot Control ric uncertainty in the model of the robot and when the speciﬁed motion is periodic The interested ... class of quasi-natural potentials for robot servo loops and its role in adaptive learning controls”, Intelligent and Soft Computing, Vol 1, No 1, pp 85– 98 Property 14.1 on the linearity of the robots ... and PID control laws Other control laws require only part of the dynamic model of the robot; e.g PD control with gravity compensation In general an adaptive controller is formed of two main parts:...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 13 ppt

... parameter uncertainty and, since then, this control scheme has become increasingly popular in the study of robot control This is the so-called adaptive controller of Slotine and Li In Chapter 11 ... formulated control problem consists in applying PD control with adaptive compensation As is explained in Chapter 14, the structure of the adaptive controllers for motion control of robot manipulators ... compensation was originally proposed in • Slotine J J., Li W., 1987, “On the adaptive control of robot manipulators , The International Journal of Robotics Research, Vol 6, No 3, pp 49–59 This controller...

Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 14 ppt

... + y(0)T x (A.8 ) On the other hand, using the deﬁnition of y(t) given in (A.6 ), we get ˙ y(t) = H(tx)x, ˙ and therefore y(α) = H(αx)x Incorporating this and (A.6 ) in (A.8 ), we obtain ∂f f (x) ... We see that on one hand, the term on the left-hand side of Inequality (A.1 5) is bounded by assumption (since f ∈ Ln ) and on the other hand, since {tn } is in nite and (A.1 4) holds for each ti ... This result is very often used in the literature of motion control of robot manipulators and in general, in the adaptive control literature Lemma A.5 Consider a once continuously diﬀerentiable...

Xem thêm

Từ khóa: local and humoral control of blood flow by the tissues robust nonlinear control of robot manipulators approaches to minimizing the environmental and social impact of oil development in the tropics understanding the binding entry and trafficking patterns of aav particles in the cell molecular and cellular aspects of mental retardation in the fragile x syndrome from gene mutation s to spine dysmorphogenesis reduction prevention and clean up of plastic debris in the marine environment the ecological and evolutionary importance of maternal effects in the sea interaction control force control and motion control computational fluid dynamics and neural network for modeling and simulations of medical devices neural and humoral control of the airways robust nonlinear control of robot manipulator with uncertainties in kinematics dynamics and actuator models modeling and position control of mobile robot mass force and motion axis and motion control hashimoto s disease involvement of cytokine network and role of oxidative stress in the severity of hashimoto s thyroiditis Báo cáo quy trình mua hàng CT CP Công Nghệ NPV Nghiên cứu sự hình thành lớp bảo vệ và khả năng chống ăn mòn của thép bền thời tiết trong điều kiện khí hậu nhiệt đới việt nam Nghiên cứu tổ chức pha chế, đánh giá chất lượng thuốc tiêm truyền trong điều kiện dã ngoại Nghiên cứu tổ hợp chất chỉ điểm sinh học vWF, VCAM 1, MCP 1, d dimer trong chẩn đoán và tiên lượng nhồi máu não cấp Giáo án Sinh học 11 bài 13: Thực hành phát hiện diệp lục và carôtenôit Giáo án Sinh học 11 bài 13: Thực hành phát hiện diệp lục và carôtenôit Giáo án Sinh học 11 bài 13: Thực hành phát hiện diệp lục và carôtenôit ĐỒ ÁN NGHIÊN CỨU CÔNG NGHỆ KẾT NỐI VÔ TUYẾN CỰ LY XA, CÔNG SUẤT THẤP LPWAN ĐỒ ÁN NGHIÊN CỨU CÔNG NGHỆ KẾT NỐI VÔ TUYẾN CỰ LY XA, CÔNG SUẤT THẤP LPWAN Trả hồ sơ điều tra bổ sung đối với các tội xâm phạm sở hữu có tính chất chiếm đoạt theo pháp luật Tố tụng hình sự Việt Nam từ thực tiễn thành phố Hồ Chí Minh (Luận văn thạc sĩ)Phát triển du lịch bền vững trên cơ sở bảo vệ môi trường tự nhiên vịnh hạ long Nghiên cứu khả năng đo năng lượng điện bằng hệ thu thập dữ liệu 16 kênh DEWE 5000 Sở hữu ruộng đất và kinh tế nông nghiệp châu ôn (lạng sơn) nửa đầu thế kỷ XIX Tổ chức và hoạt động của Phòng Tư pháp từ thực tiễn tỉnh Phú Thọ (Luận văn thạc sĩ)Giáo án Sinh học 11 bài 14: Thực hành phát hiện hô hấp ở thực vật Giáo án Sinh học 11 bài 14: Thực hành phát hiện hô hấp ở thực vật Giáo án Sinh học 11 bài 14: Thực hành phát hiện hô hấp ở thực vật Trách nhiệm của người sử dụng lao động đối với lao động nữ theo pháp luật lao động Việt Nam từ thực tiễn các khu công nghiệp tại thành phố Hồ Chí Minh (Luận văn thạc sĩ)BÀI HOÀN CHỈNH TỔNG QUAN VỀ MẠNG XÃ HỘI Đổi mới quản lý tài chính trong hoạt động khoa học xã hội trường hợp viện hàn lâm khoa học xã hội việt nam