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The paper describes an approach to learning feedback control of a robot manipulator, based on partitioning of the joint space into segments. Within each segment the robot is controlled as a decoupled linear system by means of conventional PID controllers. To achieve continuity of control variables the segments are represented as fuzzy sets. The controller settings are adapted by online identification...
This paper presents the manipulator with the new joint which can passively switch free state to drive state and vice versa. The manipulator with the free-state joint is categorized as a system subjected to a nonholonomic constraint; hence, its smooth feedback control cannot be implemented. In this paper, the issues on its control are clarified through the test with the experimental setup of the manipulator...
The design of an individual joint of a robot manipulator typically includes some form of transmission between the prime mover and the joint itself. From a geometric point of view, employing a worm gearset can, in many situations, be a desirable way to realize this function. However, for some robot configurations, the manipulator and the worm gearset give rise to unstable behavior characterized by...
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