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A flexible neural network adaptive controller based on particle swarm optimization algorithm is proposed for the trajectory tracking control of manipulator robots with model errors and uncertain disturbances. The flexible neural network with adjustable nonlinear degree by parameter variation is used as controller. The particle swarm algorithm is used to optimize the initial weights and thresholds...
At present, the manipulator for the elderly and disabled has the shortcomings of long production cycle, poor versatility and cannot meet the requirements of individual differences. The modular idea is presented to the design of manipulator system. A rotary joint module is developed with the advantages of small size, light weight and large torque. It integrates mechanical structure, drive, control...
In this paper, several kinds of virtual guides have been developed which aims at mitigating trajectory errors between real mobile manipulator and its virtual model, hence improving both the accuracy and the safety of teleoperation. By utilizing proposed virtual guide sphere, corresponding virtual guides have been constructed. Then geometric analysis is conducted since the position relation of manipulator...
A teleoperation system of Internet-based Multi-Operator Multi-Mobile-Manipulator is proposed in this paper. The system consists of master sides and slave side, which has the characteristics of mobility, cooperation, distribution, fault tolerance, redundancy etc.. In master sides, with the aid of Distributed Virtual Environment and multi-video image, operators use the haptic interface device to control...
Applying distributed control strategy, a discrete sliding mode controller (DSMC) with fuzzy adaptive reaching law is proposed to tracking the trajectory of 6-PRRS parallel robot. The detailed design procedure of the DSMC system with fuzzy adaptive reaching law is presented. The disturbances prediction, which guarantees the stability of the control system, is developed In order to attenuate the chattering...
A method for a model reference adaptive control structure using a diagonal recurrent cerebellar model articulation controller (DRCMAC) is proposed to control the parallel manipulators. In order to achieve high-precision position control and guarantee the convergence of tracking error, analytical methods based on a discrete-type Lyapunov function are proposed to determine the varied learning-rate parameters...
The master-slave manipulator is capable of extending human dexterous skills to the distant or dangerous environment. In order to enhance its operational efficiency, the impedance at both the master and the slave sides should be designed separately. This paper presents a preliminary study on implementing impedance control to a telerobotic manipulator system using a hybrid control strategy. The hybrid...
Walking robots with operating capability represent the main direction of future robots development. The limb mechanism, which integrates legged locomotion and arm manipulation, is proposed as a novel design to overcome the operation problems of walking robots. This paper describes the design concepts, analyses and summarizes present development of robots with limb mechanism, and points out some key...
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