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Uncertainty in manipulators is rooted in two factors: error of measurement and parameters uncertainty of dynamics; Hence it is necessary to include it in control design. Sliding mode control (SMC) is a proper approach for controlling uncertain systems. SMC regulates system's states to a desired dynamics, defined by sliding surface. Gains of control law determine the rate of movement towards sliding...
In the face of large-scale parametric uncertainties, the single-model (SM)-based sliding mode control (SMC) approach demands high gains for the observer, controller, and adaptation to achieve satisfactory tracking performance. The main practical problem of having high-gain-based design is that it amplifies the input and output disturbance as well as excites hidden unmodeled dynamics, causing poor...
In this paper the servo problem in a 3-D robot manipulator based only on the visual measurements by following the dynamic visual servoing approach with a fixed camera configuration is considered. To model the whole visual servoing system, we consider the robot in an image space, reconstructed from the perspective projection of the robot space in the image plane. The manipulator dynamics is lifted...
This paper presents both a quaternion based computed-torque trajectory tracking controller and a feed-forward trajectory tracking controller for a two-link space robot. First, the general form of the dynamical equations for a space robot modeled with quaternions is presented. The computed-torque controller is then presented and the stability of the resulting closed-loop system is analyzed via the...
In this paper, operation performance of CaPaMan2 bis (Cassino Parallel Manipulator bis) has been investigated through numerical simulations and lab experimental tests. A 3D (three dimension) virtual model has been built in MSC.ADAMS environment to simulate the operation behaviour for different prescribed motions. Milli-CaTraSys (Milli-Cassino Tracking System) has been implemented to measure position...
Control of underactuated manipulators is an attractive research theme in robotics. One of the reasons is that they become a complex system, so that they cannot be controlled by normal any control methods. These systems also include the properties of nonholonomic systems. One of control methods used for underactuated manipulators is known as a switching control, which selects a stable controller out...
An algorithm is presented for parameter estimation of a single-link robotic manipulator when there is dead-band between the duty-cycle of applied and actual PWM for the actuator and dead-zone (caused by backlash) in the torque transmission from actuator to the link. The proposed algorithm has two stages, in the first stage dead-band and one of the two system parameters is estimated using steady-state...
In this study, hierarchical adaptive network based fuzzy logic controller for a single flexible link robot manipulator is designed. This study is aimed to get the end of the flexible robot manipulator to desired position and terminate vibrations on arm while it moves under the action of an external driving torque. The proposed controller has two subsystems. The fast-subsystem reduces the vibration...
This paper present a synthesized design for asymptotic stable feedback control approach based in Euler-Lagrange passivity properties, hyperbolic trigonometric functions, and the Lyapunov theory (specially second method) for a robot manipulator. Control systems of robot manipulators (tracking trajectory set point) offer many challenges in education where the students must learn robot dynamics and control...
This paper discusses the work accomplished for the development of a new mobile robotic platform for the Hydro-Quebecpsilas underground power distribution lines. After an overview of few past robotic systems elaborated for the distribution networks, this article details the systems of the mobile robotic platform which seems to be the first in the literature dedicated to the underground distribution...
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,...
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