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For most teleoperation tasks, it is desired that the telerobot manipulator follows timely and precisely the reference motion set at the master side. However, the conventional control approach may not guarantee the desired performance when there are dynamic uncertainties, especially when there is a notable variation of the telerobot's payload. In this paper, a neural learning based compensation mechanism...
This paper proposes a sliding mode control strategy based on PSO (particle swarm optimization) and ANFIS (adaptive neuro-fuzzy inference system) to realize the trajectory tracking control of a 3-DOF robot manipulator. Firstly, the desired trajectory of the system end effector is discretized and PSO is employed to get the discrete joint angles of the robot manipulator. Then ANFIS is applied to turn...
Manipulators are now widely used in many aspects and many of them are cooperative with human. This requires higher security performance to manipulators. The compliance control to the manipulator seems difficult because of features of actuators, mechanical inertia, the coupling forces and the requirement of smooth and accurate control. We presented a compliance control method based on fuzzy methodology...
RBF neural network adaptive sliding mode control strategy based on genetic algorithm optimization is proposed for the non-linearity and the parameter uncertainty of the robot manipulator and the influence of disturbance, friction and other factors. The sliding mode variable structure control is used to overcome the uncertainty of the system, considering the influence of the additional uncertain disturbance,...
In this paper, we discuss the application of a recently proposed adaptive sliding mode control (ASMC) design with a novel switching gain dynamics, called integral/exponential adaptation law, to a five-link robot manipulator with uncertain dynamics. The proposed design does not require a priori knowledge of the upper bounds of perturbations. Robust stability with finite time convergence (FTC) is obtained...
The underwater vehicle-manipulator system (UVMS) is basically a redundant system. Hence, this redundant system can have various combinations of joint velocities that do not affect the given velocity profile of an end-effector and this may induce a self-motion of a vehicle. In the current paper, the performance index based on the concept of Zero Moment Point(ZMP) is proposed to enhance the stability...
The problem of synthesis of the control algorithm providing robotic manipulator (RM) motion according to the preset trajectory with the Lyapunov function method and a fully nonlinear model of a dynamic system is solved. The RM functioning under indeterminacy conditions and influence of external disturbances and noises resulting from the measurement errors of constituents of the system state vector...
This paper presents a tracking trajectory for nonholonomic mobile manipulator using distributed control strategy. First, the dynamical model of the mobile manipulator is viewed as an interconnection of two subsystems: the mobile platform subsystem and the manipulator subsystem. For the mobile platform subsystem, a novel kinematic controller is developed to obtain a desired velocity. For the manipulator...
This paper deals with the problem of trajectory generation in the joint space, several mathematical functions are used as motion profile. The choice of the motion profile is very important because it affects the performance of the robot. Several factors involved in this choice, but the most important is the smoothness of movement and therefore the continuity of the torque. To see the effect of each...
A new approach to ANFIS controller using an adaptive inertia weight particle swarm optimization (APSOANFIS) is introduced to control a complex, nonlinear and multi-variable system. In this paper, ANFIS controller based on voltage control strategy (VCS) makes a simple controller to compensate the nonlinearity and uncertainty with high speed and an adaptive inertia weight PSO approach is produced to...
This paper proposes a methodology based on Inertial Measurement Units (IMU's) and sensor fusion for the trajectory tracking performed by a human expert, estimating orientation in two dimensions and position in three dimensions. In addition, involving modeling of robot manipulators and the acquired trajectory, a kinematic control is generated for the robot programming. Experimental results have shown...
In order to solve the joints velocity jumping of reconfigurable manipulator caused by the state jump , a adaptive backstepping fast terminal fuzzy sliding mode controller based on the bio inspired strategies is designed. Fuzzy system is used to approximate the uncertain terms and the coupling terms among the subsystems, when the desired trajectory occurs big jump, in order to overcome the virtual...
In some applications, graspless manipulation of objects can ease performing the desired task. Due to this benefit as well as the theoretical challenges, this difficult problem has been addressed by some researchers. However, just for the first time, achievement of Dynamic Object Manipulation (DOM) task using a Rotating Single-Link Flexible Manipulator (RSLFM) was taken into account in [15]. Yet, the...
In this paper, the application of state-dependent Riccati equation (SDRE) controller in the field of cooperative manipulators is introduced. The ultimate goal is to increase dynamic load carrying capacity (DLCC) by means of cooperation between robots. Carrying the load with two arms creates constraint in predefined trajectory and complexity for the control problem. The rate of distribution of load...
This paper presents an account of the experimentations with a ground-based facility emulating interception scenarios with non-cooperative space debris using a robotic manipulator. A sampling-based motion-planning algorithm is used to autonomously solve the dynamic interception problem without collisions and under velocity, acceleration and jerk constraints. Invariant Kalman filter methodologies are...
This work addresses the task-space design problem of a linear-quadratic optimal tracking controller for robotic manipulators using the unit dual quaternion formalism. The efficiency, compactness, and lack of singularity of the representation render the unit dual quaternion a suitable framework for simultaneously describing the attitude and the position of the end-effector. Motivated by the advantages...
This paper investigates dynamics behaviors of self motion and path tracking of manipulator. The system contains three sets of nonlinear Ordinary Differential Equations (ODE). Algorithm to solve the ODEs system will be presented. The behavior of the system will be observed using phase space graph. Homoclinic and heteroclinic orbits present in the phase space graphs.
Most current variable structure control methods need complex calculation of manipulator sliding mode's control parameters. To solve this problem, we can divide the manipulator model into certain and uncertain two parts in this paper. The certain part is regared as a nominal model, we designs the state feedback controller to controll it. For uncertain part of the system, this paper uses variable structure...
The delta parallel mechanism has proven to be a very successful parallel robot design and a number of variants have been proposed in the literature. Taking advantage of its simple construction and the intrinsic features such as high stiffness and accuracy, delta robots play an important role both in the fields of industrial robots and academical fields. In this paper, dynamic modeling and control...
Basic PD type iterative learning control algorithm has been applied to repeat control of trajectory tracking of manipulator. However, existing iterative learning control algorithm doesn't consider the effet of time delay between controller and actuator and between sensor and controller. Because of the existence of time delay, the system using PD type iterative learning control algorithm cann't keep...
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