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Observer-based boundary control for an asymmetric output-constrained flexible robotic manipulator

Yu Liu, Xiongbin Chen, Yanfang Mei, Yilin Wu
2021 Science China Information Sciences  
The responsibility for scientific accuracy and content remains entirely with the authors.  ...  Boundary control laws with disturbance observers have been constructed to restrain the vibration and regulate the position of the flexible robotic manipulator subject to external disturbances and asymmetric  ...  In [7] , an adaptive neural control was proposed to deal with output constraints. He et al. [8] developed a vibration controller for a flexible manipulator with input deadzone.  ... 
doi:10.1007/s11432-019-2893-y fatcat:ge64kozy5nhzbovfr64bvzle6u

Simulation for Trajectory Tracking of Multi-Flexible-Link Space Robot with Deadzone

X.-Q. Huang, X.-T. Tang, L. Chen
2018 International Journal of Simulation Modelling  
Then, for the slow subsystem, a robust control method based on a nominal model and a deadzone estimation compensator were proposed.  ...  Trajectory tracking is a key step for a free-floating space robot (FFSR) system to complete a space operation.  ...  Zhang and Liu [12] proposed a new nonlinear partial differential equation observer for a flexible two-link manipulator and designed a boundary control scheme to adjust the end effector along the reference  ... 
doi:10.2507/ijsimm17(4)459 fatcat:tl4b5lg5zjhkrom4r4vp5qxdrq

2021 Index IEEE Transactions on Systems, Man, and Cybernetics: Systems Vol. 51

2021 IEEE Transactions on Systems, Man & Cybernetics. Systems  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  Boundary Output Constrained Control for a Flexible Beam System With Prescribed Performance.  ...  ., +, TSMC April 2021 2476-2487 Boundary Disturbance Observer-Based Control of a Vibrating Single-Link Flexible Manipulator.  ... 
doi:10.1109/tsmc.2021.3136054 fatcat:b5hcsfwjw5hllpenqmaq6wpke4

Neural network adaptive control design for robot manipulators under velocity constraints

Hamed Rahimi Nohooji, Ian Howard, Lei Cui
2018 Journal of the Franklin Institute  
function for constraining the joint rate variables.  ...  This paper studies the neural adaptive control design for robotic systems with uncertain dynamics under the existence of velocity constraints and input saturation.  ...  The controller is also further developed to include asymmetric constraints. By that means, more flexible constraints can be modeled for various practical transitions.  ... 
doi:10.1016/j.jfranklin.2017.11.036 fatcat:nbmbczyvanbyvezu3ik37n23om

Adaptive Control of Robotic Manipulators With Unified Motion Constraints

Mingming Li, Yanan Li, Shuzhi Sam Ge, Tong Heng Lee
2017 IEEE Transactions on Systems, Man & Cybernetics. Systems  
In this paper, we present an adaptive control of robotic manipulators with parametric uncertainties and motion constraints.  ...  Index Terms-robotic manipulator; adaptive control; unified motion constraints; input saturation; neural network approximation Mingming Li Mingming Li received the B.Eng. degree in communication engineering  ...  In [11] , [12] , adaptive control of robotic manipulators with position (output) constraints is developed by employing the M.  ... 
doi:10.1109/tsmc.2016.2608969 fatcat:vodozxicc5a53kmeu3ra5ulir4

Singularity-Tolerant Inverse Kinematics for Bipedal Robots: An Efficient Use of Computational Power to Reduce Energy Consumption

Salman Faraji, Auke Jan Ijspeert
2017 IEEE Robotics and Automation Letters  
Compared to various other popular methods that integrate velocities, this formulation can better handle fast, asymmetric and singular-postured balancing tasks for humanoid robots.  ...  Such boundaries provide safety when approaching or getting away from joint limits or singularities.  ...  Cartesian control is popular in manipulation [1] , humanoid balance [2] and locomotion [3] . The output of this transformation can generate joint positions, velocities, or accelerations.  ... 
doi:10.1109/lra.2017.2661810 dblp:journals/ral/FarajiI17 fatcat:gkrn3hsuifbarkio62izbnrruy

Gaussian processes for dynamic movement primitives with application in knowledge-based cooperation

Yunis Fanger, Jonas Umlauft, Sandra Hirche
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Along with simulation results, we validate the presented methods in a robotic cooperative object manipulation task.  ...  Dynamic Movement Primitives (DMPs) represent stable goal-directed or periodic movements, which are learned from observations or demonstrations.  ...  For each observation of the demonstrated movement(s) x (k) ,ẋ (k) ,ẍ (k) for k = 1 . . . m the output training data is computed by rearranging (1) to f (k) = τ 2ẍ(k) − α(β(g − x (k) ) − τẋ (k) ). (3) The  ... 
doi:10.1109/iros.2016.7759576 dblp:conf/iros/FangerUH16 fatcat:pqvldev5gvg3rf2pa7w2xtisui

Learning nonlinear multi-variate motion dynamics for real-time position and orientation control of robotic manipulators

E. Gribovskaya, Aude Billard
2009 2009 9th IEEE-RAS International Conference on Humanoid Robots  
The method is validated to control a four degree of freedom humanoid arm and an industrial six degree of freedom robotic arm.  ...  We present a generic framework that allows learning non-linear dynamics of motion in manipulation tasks and generating dynamical laws for control of position and orientation.  ...  However, when controlling an under-constrained manipulator or if it is in the proximity of singularities, the generalized IK presented above may be considered as a source of intrinsic perturbations affected  ... 
doi:10.1109/ichr.2009.5379536 dblp:conf/humanoids/GribovskayaB09 fatcat:2iuzrxxh2bcbpkk5ptndslbcw4

2020 Index IEEE/ASME Transactions on Mechatronics Vol. 25

2020 IEEE/ASME transactions on mechatronics  
Control of Inkjet 3-D Printing; TMECH Aug. 2020 1783-1793 Iordachita, I., see He, C., TMECH Dec. 2020 2846-2857 Iqbal, A., Gao, Y., and Gu, Y., Provably Stabilizing Controllers for Quadrupedal Robot  ...  ., Framework for Static and Dynamic Friction Identification for Industrial Manipulators; TMECH June 2020 1589-1599 Inyang-Udoh, U., Guo, Y., Peters, J., Oomen, T., and Mishra, S., Layer-to-Layer Predictive  ...  ., +, TMECH Dec. 2020 2733-2742 Boundary value problems Dynamical Modeling and Boundary Vibration Control of a Rigid-Flexible Wing System.  ... 
doi:10.1109/tmech.2021.3049586 fatcat:k4ngjuvq7jc6pgfoh6irwtkvfi

Distributed Adaptive Coordinated Control of Multiple Euler–Lagrange Systems considering Output Constraints and Time Delays

Hongde Qin, Xiaojia Li, Yanchao Sun, Hamid Reza Karimi
2021 Complexity  
Then, we utilize an asymmetric barrier Lyapunov function in the control design to guarantee the output errors satisfy the time-varying output constraints.  ...  Finally, we utilize a group of manipulator networks simulation experiments to verify the validity of the proposed distributed control laws.  ...  At the same time, an asymmetric BLF is used to guarantee that the output errors are always within the output constraints. e adaptive control Algorithm 1 is designed to ensure that the tracking errors is  ... 
doi:10.1155/2021/5594053 fatcat:ra7epxh3gbbs3h5psmnsdlxzq4

Design, Control, and Applications of a Soft Robotic Arm [article]

Hao Jiang, Zhanchi Wang, Yusong Jin, Xiaotong Chen, Peijin Li, Yinghao Gan, Sen Lin, Xiaoping Chen
2020 arXiv   pre-print
Specifically, based on accurate model, an open-loop controller is realized by combining piece-wise constant curvature (PCC) modeling method and machine learning method.  ...  This paper presents the design, control, and applications of a multi-segment soft robotic arm.  ...  For multi-segment manipulators, let the augmented matrix of the base with respect to the base coordinate system be T 0 , which is an identity matrix , and let the augmented matrices for the tips of each  ... 
arXiv:2007.04047v1 fatcat:nzefed5r6fcgnnywb6rhqx2wa4

2020 Index IEEE Transactions on Cybernetics Vol. 50

2020 IEEE Transactions on Cybernetics  
., Reference Trajectory Reshaping Optimi-zation and Control of Robotic Exoskeletons for Human-Robot Co-Manipulation; TCYB Aug. 2020 3740-3751 Wu, X., Jiang, B., Yu, K., Miao, c., and Chen, H  ...  ., +, TCYB May 2020 2264-2273 A Learning-Based Hierarchical Control Scheme for an Exoskeleton Robot in Human-Robot Cooperative Manipulation.  ...  ., +, TCYB June 2020 2425-2439 Force control A Learning-Based Hierarchical Control Scheme for an Exoskeleton Robot in Human-Robot Cooperative Manipulation.  ... 
doi:10.1109/tcyb.2020.3047216 fatcat:5giw32c2u5h23fu4drupnh644a

2009 Index IEEE Transactions on Automatic Control Vol. 54

2009 IEEE Transactions on Automatic Control  
., +, TAC Sept. 2009 2239-2244 Observers A Class of Globally Convergent Velocity Observers for Robotic Manipulators.  ...  ., +, TAC July 2009 1693-1697 Convergence A Class of Globally Convergent Velocity Observers for Robotic Manipulators.  ...  Hopper. 1779 -1793 Time-Optimal Path Tracking for Robots: A Convex Optimization Approach.  ... 
doi:10.1109/tac.2009.2037798 fatcat:4ilhkzss6jc63ersjzi47hiwgu

2019 Index IEEE Transactions on Automatic Control Vol. 64

2019 IEEE Transactions on Automatic Control  
., +, TAC May 2019 2128-2134 Manipulators Adaptive Fixed-Time Control for MIMO Nonlinear Systems With Asymmetric Output Constraints Using Universal Barrier Functions.  ...  ., +, TAC March 2019 1221-1227 A Disturbance Observer Based Sliding Mode Control for a Class of Underactuated Robotic System With Mismatched Uncertainties.  ... 
doi:10.1109/tac.2020.2967132 fatcat:o2hd2t4jz5fbpkcemjt5aj7xrm

A Planar Parallel Device for Neurorehabilitation

Jawad Yamine, Alessio Prini, Matteo Lavit Nicora, Tito Dinon, Hermes Giberti, Matteo Malosio
2020 Robotics  
This paper presents the development of an affordable device for upper-limb neurorehabilitation designed for home use. The device is based on a 2-DOF five-bar parallel kinematic mechanism.  ...  Robotic devices have the potential to address this problem, however most of the rehabilitation robots are technically advanced and mainly designed for clinical use.  ...  Acknowledgments: The authors would like to thank: João Carlos Dalberto and Roberto Bozzi for supporting the mechanical and electrical realization of the prototype; Alessandra Tafaro and Roberta Pozzi for  ... 
doi:10.3390/robotics9040104 fatcat:x3dinii3nran5iyubldmtxkiqm
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