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In this paper, a self-tuning control of a two-link flexible manipulator using neural networks is presented. The neural networks learn the gains of PI controllers for the flexible manipulator. Numerical results show that this presented neural network control system can suppress the vibration of the flexible manipulator and track the desired joint angles. Simulation results show that the self-tuning...
This paper derives a tip position controller for a two link planar flexible manipulator based on the dynamic extension technique and the potential energy shaping technique. Dynamics of the manipulator being described by a set of non-linear ordinary and partial differential equations is expanded by connecting an external system that has its own dynamics and generalized coordinates. Then the potential...
This paper presents a C++ object oriented based simulator for a rotating four-legged mobile robot called PEOPLER. This simulator facilitates the analysis of the robot circular trajectory influenced by ground friction coefficient and payload operating on landing contacts. The results show reasonable robot motion behavior depending on different walking strides.
The objective of this paper is to develop a novel tip position control scheme based on an exact model for a two link flexible manipulator with all joints revolute. We assume that each link of the flexible manipulator is a uniform Euler-Bernoulli beam with Kelvin-Voigt damping. The exact model that is described by a set of ordinary and partial differential equations is derived by using Hamilton's principle...
This paper proposes a steady-state genetic algorithm for trajectory generation used in the imitation of a partner robot interacting with a human. Various types of genetic algorithms have been applied for the trajectory generation of robot manipulators. In this paper, we propose a trajectory generation method for the partner robot by a steady-state genetic algorithm based on the human motions pattern,...
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