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Friction compensation for an industrial hydraulic robot

1999 IEEE Control Systems  
oint friction is one of the major limitations in performing high J precision manipulation tasks. It affects both static and dy-  ...  As an example, the joint friction of the Schilling Titan I1 manipulator can reach 30% of the nominal actuator torque.  ...  Torque Control In order to compensate for friction torque, it is required to provide the manipulator with the ability of accurately applying the desired torque.  ... 
doi:10.1109/37.745763 fatcat:smtrvwu36vgj3iew6rflailovi

Control Technique for Parallel Manipulator using PID

Anoop R Nair, Achu Govind K R
2016 International Journal of Engineering Research and  
In this paper, a adaptive PID control of parallel manipulator is done and its performance is verified.  ...  Here the manipulator was independent of the operational change and also is able consider the system dynamics .Also this method has a advantage of having low error rate .Here delta parallel manipulator  ...  In [10] , redundantly actuated parallel manipulator was used to test an proposed adaptive controller in task space that included adaptive dynamics compensation, adaptive friction compensation, and error  ... 
doi:10.17577/ijertv5is070064 fatcat:ifzc4y6uvjbmdbxkkwkk5ahy2y

Adaptive control of robot manipulators including actuator dynamics and without joint torque measurement

Yahya Salimi Khaligh, Mehrzad Namvar
2010 2010 IEEE International Conference on Robotics and Automation  
However, consideration of actuator dynamics usually requires measurement of robot joint torques.  ...  This paper addresses motion tracking control of an n-DOF rigid robot by taking into account its actuator dynamics. Joint torque measurement is avoided by using an adaptive observer.  ...  The first is the possible need to measure joint torques or motor currents, in case of electric actuators, and the second, is the presence of model uncertainty in manipulator or actuator dynamics.  ... 
doi:10.1109/robot.2010.5509255 dblp:conf/icra/KhalighN10 fatcat:cbup74nszvbx5ooy4eob3z4suq

A Kinematic Approach to Determining the Optimal Actuator Sensor Architecture for Space Robots

Peggy Boning, Steven Dubowsky
2010 The international journal of robotics research  
Acknowledgments This work was sponsored by the Japan Aerospace Exploration Agency (JAXA) and the Department of Mechanical Engineering at MIT.  ...  To calculate the applied joint torques, the dynamics of the links in the manipulator are included in the formulation.  ...  A collection of single manipulator cases, with and without thrusters, is summarized in Figure 12 .  ... 
doi:10.1177/0278364910375140 fatcat:czi6iyn6lzcc3ps5dk4iqqtpnu

A control architecture for a mobile heavy-lift precision manipulator with limited sensory information

William Becker, Matthew DiCicco, Justin Garretson, Steven Dubowsky
2007 Robotica (Cambridge. Print)  
Mobile robotic manipulators can augment the strength and dexterity of human operators in unstructured environments.  ...  , and modelbased methods of friction compensation.  ...  The authors would like to acknowledge the support of Foster-Miller, Inc. and the United States Navy for their support of this research, as well as Takeshi Takaura, and Matt Lichter for their helpful comments  ... 
doi:10.1017/s0263574707003335 fatcat:xhmo6ljevjadnjweh6d4yfugoi

Joint Torque Sensory in Robotics [chapter]

Farhad Aghili
2006 Industrial Robotics: Programming, Simulation and Applications  
Moreover, it has been proved that JTF can achieve a precise torque tracking in a manipulator joint by compensating the e ect of joint friction and actuator nonlinearities.  ...  The applications of adaptive control in conjunction with joint-torque sensory feedback was used for dynamic motion control of manipulators.  ...  Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology.  ... 
doi:10.5772/4890 fatcat:p4gy3fni7nbnndyz4wojku47bi

Investigation of adaptive control of robot manipulators with uncertain features for trajectory tracking employing HIL simulation technique

2017 Turkish Journal of Electrical Engineering and Computer Sciences  
This paper investigates the hardware-in-the-loop (HIL) simulation approach for dynamic control of a three-link rigid robot manipulator that possesses ambiguous dynamics and kinematics.  ...  The RV adaptive controller can yield better performance with proper alterations, without the cost of conventional gain choice.  ...  is the vector of joint actuator torques.  ... 
doi:10.3906/elk-1604-341 fatcat:tshpdb5c4nfuxnjdgf4l37wzcu

Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics

Yuan Chen, Guangying Ma, Shuxia Lin, Jun Gao
2012 International Journal of Advanced Robotic Systems  
computed-torque control and different fuzzy compensators for the robust tracking control of robotic manipulators with structured and unstructured uncertainties.  ...  The validity of the two types of adaptive control scheme is shown by numerical simulations of a three-link rotary robot manipulator.  ...  B2012016), and the Independent Innovation Foundation of Shandong University (grant no. 2012ZRYQ001).  ... 
doi:10.5772/54643 fatcat:vtxzvmkclfhvxoy5iaokida72a

Fuzzy Disturbance-Observer Based Control of Electrically Driven Free-Floating Space Manipulator [chapter]

Zhongyi Chu, Jing Cui
2011 Lecture Notes in Computer Science  
In this paper, motion control of electrical driven free floating space manipulator is considered.The dynamics of the free-floating space manipulator are derived based on Virtual Manipulator Approach(VMA  ...  ),which allows us to develop controller in joint space.  ...  Actuator dynamics. Actuators at each joint provide the torques to drive the end effector, DC brushless motor is usually used.  ... 
doi:10.1007/978-3-642-21111-9_5 fatcat:j45hetmzgraj3dxiudsig6qcoy

Adaptive actuator failure compensation for redundant manipulators

E. Faruk Kececi, Xidong Tang, Gang Tao
2008 Robotica (Cambridge. Print)  
Dynamic equations of such a multiple manipulator system in the task space are derived and the adaptive actuator failure compensation problem is formulated in the task space, for which a compensation controller  ...  The adaptive control scheme is able to compensate for the uncertainties of system parameters and actuator failures in a more general sense.  ...  In concurrently actuated manipulators, unknown actuator failure compensation by adaptive control without detecting the failure is an ongoing research.  ... 
doi:10.1017/s0263574708004487 fatcat:qzwykdz5offdhdxbuultluld2a

Design methodologies of a hybrid actuation approach for a human-friendly robot

Dongjun Shin, O. Khatib, M. Cutkosky
2009 2009 IEEE International Conference on Robotics and Automation  
Presenting the analytical model of the hybrid actuation for human-friendly robot development, this paper has been proposed design methodologies to improve performance factors such as range of motion, payload  ...  Safety is a critical characteristic for robots designed to operate in human environments.  ...  , Daniel Aukes of the Biomimetics and Dexterous Manipulation Laboratory at Stanford University.  ... 
doi:10.1109/robot.2009.5152744 dblp:conf/icra/ShinKC09 fatcat:qth7trbdibdmblbsb2fkmxm25m

Actuator and Friction Dynamics Formulation in Control of PKMs: From Design to Real-Time Experiments

Hussein Saied, Ahmed Chemori, Maher El Rafei, Clovis Francis, Francois Pierret
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
This paper deals with a new dynamic formulation of parallel manipulators incorporating the actuator and friction dynamics to be utilized in control.  ...  The motivation behind this contribution is to enhance the control performance by compensating the unfavourable nonlinearities abundant extensively in PKMs.  ...  Actuator Dynamics The torque vector in (7) is the torque needed at the level of rotor-rear arm to manipulate the robot as desired, so it is the output torque of the motor.  ... 
doi:10.1109/iros.2018.8594329 dblp:conf/iros/SaiedCRFP18 fatcat:ghxnxgav3vhixl7dbdyts2s6vm

Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation

Hoai Vu Anh Truong, Duc Thien Tran, Xuan Dinh To, Kyoung Kwan Ahn, Maolin Jin
2019 Applied Sciences  
The hydraulic manipulator uses electrohydraulic actuators as primary torque generators to enhance carrying payload of the manipulator.  ...  The backstepping sliding mode control includes a sliding mode control for manipulator dynamics and a PI control for actuator dynamics.  ...  Same profile in the first joint in comparison between with and without load. Conclusions In this study, the behavior of the 3-DOF hydraulic manipulator including actuator has been analyzed.  ... 
doi:10.3390/app9163290 fatcat:2y2korsrpzfnzbklnv7zxd4hym

Adaptive Robust Output-Feedback Motion/Force Control of Electrically Driven Nonholonomic Mobile Manipulators

Zhijun Li, Shuzhi Sam Ge, M. Adams, W.S. Wijesoma
2008 IEEE Transactions on Control Systems Technology  
The controls are developed on structural knowledge of the dynamics of the robot and actuators and in conjunction with a linear observer.  ...  In this brief, adaptive robust output-feedback force/ motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties  ...  Tao, the National University of Singapore, for the discussions and suggestions.  ... 
doi:10.1109/tcst.2008.917228 fatcat:jtdjx5b2sjdtlpmtd3wieuye2e

A new extension of desired compensation adaptive control and its real-time application to redundantly actuated PKMs

M. Bennehar, A. Chemori, F. Pierrot
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, a new control scheme based on the desired compensation adaptive control strategy for mechanical manipulators is developed.  ...  In order to estimate the unknown parameters, the adaptation law is formulated based on the inverse dynamic model and the desired trajectories instead of the actual ones.  ...  On the other hand, dynamic controllers mainly rely on the dynamic model of the manipulator in order to compensate the nonlinearities.  ... 
doi:10.1109/iros.2014.6942779 dblp:conf/iros/BenneharCP14 fatcat:rdyrftc4abfvnf75ogob4kxmba
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