The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Pressing demands of accuracy, repeatability, reliability and productivity in today's robotic applications has highlighted significance of modern control techniques. This research proposes two non-linear design techniques, Model Predictive Control (MPC) and H-infinity control for a six Degree Of Freedom (DOF) robotic arm. The derived dynamics of the manipulator based on Euler Lagrange formulation is...
Increasing demands of accuracy, productivity, reliability and repeatability in today's robotic applications have highlighted significance of modern control techniques. The associated control law must be able to handle perturbation forces, joint friction and parameter variations which can degrade the robot performance. This paper proposes non-linear Sliding Mode Control (SMC) for a 6 Degree of Freedom...
Pressing demands of productivity and accuracy in today’s robotic applications have highlighted an urge to replace classical control strategies with their modern control counterparts. This recent trend is further justified by the fact that the robotic manipulators have complex nonlinear dynamic structure with uncertain parameters. Highlighting the authors’ research achievements in the domain of manipulator...
This paper presents modelling and control design of ED 7220C — a vertical articulated serial arm having 5 revolute joints with 6 Degree Of Freedom. Both the direct and inverse kinematic models have been developed. For analysis of forces and to facilitate the controller design, svstem dvnamics have been formulated. A non-linear control technique, Computed Torque Control (CTC) has been presented. The...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.