[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

Galicki, 2006 - Google Patents

Path-constrained control of a redundant manipulator in a task space

Galicki, 2006

Document ID
15517004200043831378
Author
Galicki M
Publication year
Publication venue
Robotics and Autonomous Systems

External Links

Snippet

This study addresses the problem of controlling a redundant manipulator with both state and control dependent constraints. The task of the robot is to follow by the end-effector a prescribed geometric path given in the task space. The control constraints resulting from the …
Continue reading at www.sciencedirect.com (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop

Similar Documents

Publication Publication Date Title
Galicki Finite-time trajectory tracking control in a task space of robotic manipulators
Wu et al. A survey of learning-based control of robotic visual servoing systems
Parlaktuna et al. Adaptive control of free-floating space manipulators using dynamically equivalent manipulator model
Staicu Inverse dynamics of the 3-PRR planar parallel robot
Moallem et al. Nonlinear tip-position tracking control of a flexible-link manipulator: theory and experiments
Moosavian et al. Modified transpose Jacobian control of robotic systems
Han et al. Active use of restoring moments for motion control of an underwater vehicle-manipulator system
Ismail et al. A region boundary-based control scheme for an autonomous underwater vehicle
Andaluz et al. Visual control with adaptive dynamical compensation for 3D target tracking by mobile manipulators
Le et al. An adaptive tracking controller for parallel robotic manipulators based on fully tuned radial basic function networks
Galicki Path-constrained control of a redundant manipulator in a task space
Sai et al. Adaptive nonsingular fast terminal sliding mode impedance control for uncertainty robotic manipulators
Han et al. Distributed parameter modeling and boundary control of an octopus tentacle-inspired soft robot
Jing et al. A review on kinematic analysis and dynamic stable control of space flexible manipulators
Zijie et al. PID control of an omnidirectional mobile platform based on an RBF neural network controller
Antonelli et al. A fuzzy approach to redundancy resolution for underwater vehicle-manipulator systems
Asar et al. ANFIS-based an adaptive continuous sliding-mode controller for robot manipulators in operational space
Khalil et al. A novel solution for the dynamic modeling of Gough-Stewart manipulators
Nagano et al. Simplification of motion generation in the singular configuration of a wheel-legged mobile robot
Su et al. Recursive decentralized control for trajectory tracking of flexible space manipulators
Chen et al. Computed-torque plus robust adaptive compensation control for robot manipulator with structured and unstructured uncertainties
Knani Dynamic modelling of flexible robotic mechanisms and adaptive robust control of trajectory computer simulation––Part I
Su et al. Reduced order model and robust control architecture for mechanical systems with nonholonomic Pfaffian constraints
Karachalios et al. Parameter refinement of a ballbot and predictive control for reference tracking with linear parameter-varying embedding
Safeena et al. Survey paper on the forward kinematics solution of a Stewart platform