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.
We present a controller for flexible-joint robots without link velocity measurement. Our main result consists in a simple controller of the type proportional-derivative plus feedforward and a series of cascaded filters; the control design is reminiscent of classical backstepping control. To avoid the assumption that link velocities, accelerations and jerks are measured, we use approximate differentiation...
This paper describes a new control method for pushing operation by mobile manipulator. The mobile manipulator can perform many tasks because it has mobility of the mobile platform and manipulability of the multijoint arms. Therefore, it is very effective for tasks in human environment. Using this advantage of the mobile manipulator, this paper aims at pushing operation in human environment. In pushing...
This paper presents an approach to the control of the KNTU CDRPM using an integrated control scheme. The goal in this approach is achieving accurate trajectory tracking while assuring positive tension in the cables. By the proposed controller, the inherent nonlinear behavior of the cable and the target tracking errors are simultaneously compensated. In this paper asymptotic stability analysis of the...
This paper addresses a constrained motion planning problem for mobile manipulators. The constraints are included into the system model by means of a sort of penalty function, and then processed in accordance with the endogenous configuration space approach. Main novelty of this paper lies in deriving a constrained Jacobian motion planning algorithm with the following features: inequality constraints...
In this paper we study the stability problem of a hybrid system composed of two robots, where the appropriate cooperation of robots are expected to work efficiently. The performance of system depends directly upon one main factor: the coordination movement of the robots. The stability analysis of the system results in a model of uniform Euler-Bernoulli beams with linear and non-collocated boundary...
This paper concerns stabilization of the Pendubot by controller design for underactuated mechanical systems with two degrees of freedom (DOF) based on the controlled Lagrangians method. A solution with a nonconstant vector Gamma is found for the kinetic energy equation in the necessary and sufficient matching condition. As a contribution, the range of system parameters is enlarged in which the 2-DOF...
A novel second-order update law proposed in this paper, whose coefficients are decided by a linear matrix differential equation with the regressors as input, achieves uniform asymptotic stability parameters convergence as well as motion tracking error of robot manipulators, if the persistency of excitation condition is satisfied. This algorithm is simpler for the execution. Based on this adaptive...
This paper gives a new passivity based control of hydraulic arms based on a new model using ldquonaturalrdquo Casimir functions. Not only passivity but also Casimir functions are used in the modeling and control as a new structural property. First, we refer port-Hamiltonian systems and their properties. Second, we propose two stabilization methods, a new dynamic asymptotic stabilization method and...
Control laws have been proposed in the literature for stable tracking of a desired contact force between a manipulator and a rigid environment. One of the most common conclusions states that for stable control of contact force there should exist compliance property either in the environment or in the contacting manipulator. This paper presents a discussion in the definition of the loop gain in a robust...
The stability characteristics of dynamic dissipative compensators are investigated for multibody flexible space structures having nonlinear dynamics. The problem addressed is that of proving asymptotic stability of dynamic dissipative compensators. The stability proof uses the Lyapunov approach and exploits the inherent passivity of such systems. For such systems these compensators are shown to be...
Under-actuated mechanisms provide low cost automation and can overcome actuator failures. These mechanisms are particularly useful for space applications mainly because of their less weight and lower power consumption. In space under-actuation could be effectively introduced in large space structures and robot manipulators. Such mechanisms would however be difficult to control because of the fewer...
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.