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 el...

Ngày tải lên: 14/09/2015, 08:50

... 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 contro...

Ngày tải lên: 10/08/2014, 01:23

... 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 cont...

Ngày tải lên: 10/08/2014, 01:23

... 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 co...

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... 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 l...

Ngày tải lên: 10/08/2014, 01:23

... 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: Anal...

Ngày tải lên: 10/08/2014, 01:23

... 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 ana...

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... 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 usin...

Ngày tải lên: 10/08/2014, 01:23

... 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 Propert...

Ngày tải lên: 10/08/2014, 01:23

... 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...

Ngày tải lên: 10/08/2014, 01:23

... + 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) ho...

Ngày tải lên: 10/08/2014, 01:23