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This paper presents efficient computational algorithms of operational space dynamics for free-flying and for free-floating space robots. Due to the lack of the fixed base, the operational space formulation of the space robot is more complex than the fixed base robot system. By paying attention to this unique characteristic, however, the novel algorithm of the operational space dynamics for a single-serial-arm...
Output feedback of new robust-adaptive tracking control algorithm is proposed in this paper for robot manipulators and its robustness is analyzed simultaneously. This robust-adaptive approach can be received as the extension of the conventional adaptive scheme since the mapped estimated-parameters instead of estimator output are applied to controllers.
The modified transpose Jacobian (MTJ) algorithm is a recently proposed algorithm used in manipulator control. Based on an approximated feedback linearization approach the MTJ does not need to a priori knowledge of the plant dynamics. In this paper, this scheme is extended to the complicated control problem of underactuated robots in Cartesian space. Based on the notion of transpose effective Jacobian,...
In this paper, we present an optimum approach to design a MIMO controller for a manipulator using discrete tabu search (TS) algorithm. In the first step, the TS algorithm is reviewed and then we employ the proposed method in order to assign efficiently the optimal PID controller parameters. The design goal is to minimize the integral absolute error and reduce transient response by minimizing overshoot,...
The Multiple Impedance Control (MIC) is a Model-Based algorithm that enforces a designated impedance on all cooperating manipulators, and the manipulated object itself. Although the MIC has been appeared as an efficient algorithm, but to apply model-based control laws the system dynamics has to be modeled. Furthermore, computation of the system dynamics even if perfectly known, may require considerable...
For many applications, flexible-link robot arms may handle payloads that are not simple rigid bodies. In space applications, the RMS (remote manipulator system) will be manipulating satellites that may contain fuel or have flexible appendages. High-performance control schemes for flexible-link manipulators require end-point feedback. If the payload dynamics are not accounted for in the control design,...
This paper studies the kinematics and dynamics of underactuated manipulators. The presence of passive hinges causes the kinematics and dynamics of these manipulators to be considerably more complex when compared with fully-actuated manipulators. Techniques from the spatial operator algebra are used to develop expressions for the generalized Jacobian, the mass matrix and an efficient inverse dynamics...
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