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Monday, July 20, 2020 | History

3 edition of Position control of redundant manipulators using an adaptive error-based control scheme found in the catalog.

Position control of redundant manipulators using an adaptive error-based control scheme

Position control of redundant manipulators using an adaptive error-based control scheme

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Published by Catholic University of America, Dept. of Electrical Engineering, For sale by the National Technical Information Service in Washington, DC, [Springfield, Va .
Written in English

    Subjects:
  • Robotics.,
  • Space vehicles -- Design and construction.,
  • Computerized simulation.,
  • Controllers.,
  • Kinematics.,
  • Manipulators.,
  • Model refernce adaptive control.,
  • Position (Location)

  • Edition Notes

    StatementCharles C. Nguyen and Zhen-Lei Zhou.
    SeriesNASA-CR -- 186812., NASA contractor report -- NASA CR-186812.
    ContributionsZhou, Zhen-Lei., Goddard Space Flight Center.
    The Physical Object
    FormatMicroform
    Pagination1 v.
    ID Numbers
    Open LibraryOL17725446M

    This paper presents an adaptive control scheme for a mobile manipulator robot based on the virtual decomposition control (VDC). The control strategy was tested on three degrees of freedom manipulator arm mounted on two degrees of freedom mobile platform. COVID Resources. Reliable information about the coronavirus (COVID) is available from the World Health Organization (current situation, international travel).Numerous and frequently-updated resource results are available from this ’s WebJunction has pulled together information and resources to assist library staff as they consider how to handle coronavirus.

    This book presents a series of researches inspired by this ideal, carried through by various researchers worldwide, looking for to analyze and to discuss diverse subjects related to humanoid robots. The presented contributions explore aspects about robotic hands, learning, language, vision and locomotion. Design of "position based" visual servoing control schemes based on the algorithm for the estimation of the object motion and using different cameras configurations. A3: INTEGRATION OF VISUAL SERVOING AND FORCE CONTROL Development of a new approach inspired by parallel force/position control, where force and vision are used along all task.

    The Machine Learning Network Online Information Service provides information and resources related to machine learning, knowledge discovery, case-based reasoning, knowledge acquisition, and data mining. This includes (but is not limited to) research groups, persons within the ML community, software and algorithms, datasets, calls for papers on conferences, workshops, special issues, a listing. Biomechanical models provide a means to analyze movement and forces in highly complex anatomical systems. Models can be used to explain cause and effect in normal body function as well as in abnormal cases where underlying causes of dysfunction can be clarified. In addition, computer models can be used to simulate surgical changes to bone and muscle structure allowing for prediction of Cited by: 6.


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Position control of redundant manipulators using an adaptive error-based control scheme Download PDF EPUB FB2

Get this from a library. Position control of redundant manipulators using an adaptive error-based control scheme. [Charles C Nguyen; Zhen-Lei Zhou; Goddard Space Flight Center.].

A hybrid adaptive fuzzy control approach based position/force control of robot manipulators is proposed in [15] to solve the overwhelming complexity of the deburring process and imprecise Author: Chiman Kwan.

According to adaptive position tracking control design, an adaptive robust control strategy is also considered for nonholonomic constraint force. The design of adaptive online learning algorithms. What is kinematic analysis space mechanism.

Astronautical instruments 'Position control of redundant manipulators using an adaptive error-based control scheme' -- subject(s): Robotics, Design. His research interests include visual servoing of robot manipulators, hybrid visual/force control, adaptive control, grasping and manipulation, aerial robotics, robotic ball catching, and visual object tracking and reconstruction.

He has published more than journal and conference papers and book by: 4. What is an allusion in chapter 3 of the outsiders. Which is more reactive phosphorus or chlorine. Which was not a result of the baby boom that followed world war ii answers APEX. This paper presents a fuzzy identification method for the dynamic model of the 6PUS-UPU redundantly actuated parallel robot.

The T–S fuzzy model is the model of the whole system, the input is the pose of the moving platform and the output is the driving force. The fuzzy model is regarded as the feedback loop between the moving platform and the force branch.

The dynamic model is built Cited by: 9. Full text of "Robot Manipulators, New Achievements" See other formats. Within the proposed adaptive control strategy, both model uncertainties and actuator faults can be compensated without the knowledge of the uncertainty bounds and fault information.

By virtue of the proposed adaptive control scheme, the minimum discontinuous control gain is adopted, which significantly reduces the control chattering effect. Introduction. Physical cooperation between human and robot has become a topic of major focus in robotics.

A primary concern of a robot designed for cooperation with human or uncertain environment is that it should not pose any threat to human in any cases Heinzmann and Zelinsky (), Ikuta et al.

().The close human–robot interaction (HRI) inevitably lead to physical contact, which Cited by: A trilateral nonlinear version of the model reference adaptive impedance control (MRAIC) scheme is developed for implementing the proposed reference impedance models on the masters and the slave.

The convergence of robots' trajectories to desired responses and the robustness against modeling uncertainties are ensured using the proposed Cited by: 4. Full text of "Nonlinear control of engineering systems: a Lyapunov-based approach" See other formats.

proposed control strategy on the CARR. Three training modes include 1) a passive mode using a joint-space position controller, 2) a patient-robot cooperative mode using a fixed-parameter admittance controller, and 3) a cooperative mode using a variable-parameter admittance controller.

JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT AND CONTROL Vol. - SPIS TREŚCI no 1 RESEARCH PAPERS A Hybrid Nonlinear Adaptive Tracking Controller for a Resonating Fiber Microscanner / Quinn Y. Smithwick, Juris Vagners, Richard S. Johnston, and Eric J. Seibel. This study presents a field-programmable gate array (FPGA)-based mechatronic design and real-time fuzzy control method with computational intelligence optimization for omni-Mecanum-wheeled autonomous vehicles.

With the advantages of cuckoo search (CS), an evolutionary CS-based fuzzy system is proposed, called CS-fuzzy. The CS’s computational intelligence was employed to optimize Author: Hsu-Chih Huang, Chin-Wang Tao, Chen-Chia Chuang, Jing-Jun Xu.

- Adaptive Attitude Tracking Control of Rigid Body Systems with Unknown Inertia and Gyro-bias, Abdelaziz Benallegue, Yacine Chitour, Abdelhamid Tayebi, p.

- Synchronization of Discretely Coupled Harmonic Oscillators Using Sampled Position States Only, Hua. The book provides a theoretical and experimental treatment of robot interaction control. In the framework of model-based operational space control, stiffness control and impedance control are presented as the basic strategies for indirect force control; a key feature is the coverage of six-degree-of-freedom interaction tasks and manipulator.

The collision of a manipulator with its environment is detected by the difference bet een the actual input torques to the manipulator and the reference input torques calculated based on the manipulator adaptive control scheme is employed for the manipulator control and the parameter estimation of the reference input.

In this paper, we deal with the backstepping control design of the two-wheeled inverted-pendulum-type autonomous robot, the e-nuvo-wheel, made in ZMP Inc. [5]. We propose a new trust region approach for minimizing a nonlinear function subject to simple bounds. Unlike most existing methods, our proposed method does not require that a quadratic programming subproblem, with inequality constraints, be solved in each by:.

The position of the first specimen moves within the histogram of the crack population from a value in the far right tail at mm crack size to a value close the mean at mm crack size.

The position of the second specimen moves from a value close to the mean at mm crack size to a value in the far left tail at mm crack size (it is the.This two volumes constitute the refereed proceedings of the First International Conference on Intelligent Robotics and Applications, ICIRAheld in Wuhan, China, in October The revised full papers presented were thoroughly reviewed and selected from submissions; they are devoted.Tension/Position Hybrid Control of a Web-Conveyed System.- Testing Technology of Torsional Vibration Spring Static Stiffness.- Research of Integrated Access Control Based on Task-Driven RBAC for Lifecycle Software Quality Management.- Adaptive Notch Filter Control for the Torsion Vibration in Lead-Screw Feed Drive System Based on Neural Network