Download e-book for iPad: Adaptive control for robotic manipulators by Dan Zhang, Bin Wei
By Dan Zhang, Bin Wei
The robot mechanism and its controller make an entire approach. because the robot mechanism is reconfigured, the keep watch over procedure needs to be tailored hence. the necessity for the reconfiguration often arises from the altering practical specifications. This ebook will specialize in the adaptive keep an eye on of robot manipulators to deal with the replaced stipulations. the purpose of the ebook is to summarise and introduce the state of the art applied sciences within the box of adaptive keep an eye on of robot manipulators so that it will enhance the methodologies at the adaptive keep an eye on of robot manipulators. Advances made long ago a long time are defined within the ebook, together with adaptive regulate theories and layout, and alertness of adaptive keep watch over to robot manipulators.
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Extra resources for Adaptive control for robotic manipulators
M. 2001. Predictive Control with Constraints, Pearson Education (US). Maliotis, G. 1991. A hybrid model reference adaptive control/computed torque control scheme for robotic manipulators. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. , U. Topcu and M. Tomizuka. 2011. Optimization-based constrained iterative learning control. Control Systems Technology, IEEE Transactions on, 19(6): 1613–1621. Mohan, S. and J. Kim. 2012. Indirect adaptive control of an autonomous underwater vehiclemanipulator system for underwater manipulation tasks.
The above statement is not consistent with the Figs. 4 and 5 in (Horowitz and Tomizuka 1986). According to Figs. 4 and 5 in (Horowitz and Tomizuka 1986), the control system has an inner loop MRAS controller, but it does not have an outer loop PID action controller. The PID controller is in the form of K p e K i edt K d e , but in the paper (Horowitz and Tomizuka 1986), the outer loop controller is in the form of K i e K p x p K d xv , which is absolutely not a PID controller. (2) For the Figs.
1991. Applied Nonlinear Control, Prentice-Hall International, Inc. Tsai, M. C. and M. Tomizuka. 1989. Model reference adaptive control and repetitive control for robot manipulators. Robotics and Automation, 1989. Proceedings, 1989 IEEE International Conference on, 3: 1650–1655. Tung, P. , S. -R. Wang and F. -Y. Hong. 2000. Application of MRAC theory for adaptive control of a constrained robot manipulator. International Journal of Machine Tools and Manufacture, 40(14): 2083–2097. Uchiyama, M. 1978.
Adaptive control for robotic manipulators by Dan Zhang, Bin Wei