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  • Discrete-time explicit model reference adaptive control for robotic manipulators

    Creator:
    Yuh, Junku
    Abstract:
    In this dissertation a direct approach to discrete-time model reference adaptive control (MRAC) based on hyperstability theory is proposed to control industrial robotic manipulators. For industrial robots and manipulators, which usually have highly nonlinear and complex dynamic equations and often have unknown inertia characteristics, it is very difficult to achieve...
    Resource Type:
    Dissertation
    Full Text:
    MODEL REFERENCE ADAPTIVE CONTROL TO INDUSTRIAL ROBOTIC MANIPULATOR SYSTEMS 69 5.1 Dynamic model 69 5.2

  • Dynamics and control of a rigid/flexible manipulator

    Creator:
    Yeh, Chun-tien
    Abstract:
    Control of high-speed, light-weight robotic manipulators is a challenge because of their special dynamic characteristics. In this work, a two-stage control algorithm for the position control of flexible manipulators is proposed. First, the more complex, flexible robot system is replaced by a simplified hypothetical rigid body system (HRRA) with off-line...
    Resource Type:
    Dissertation
    Full Text:
    Dynamics and control of a rigid/flexible manipulator

  • Optimization of polynomial trajectories for robotic manipulators

    Creator:
    Yildirim, Yuksel
    Abstract:
    In this thesis, a method is presented to construct minimum-time robot trajectories for predefined Cartesian end-effector path in a workspace containing obstacles. The method is preferably applied to a geometric collision-free path of a SCARA robot by using the theories of Bezier, B-spline, and parabolic blending curves. The motion of...
    Resource Type:
    Masters Thesis
    Full Text:
    a manipulator we will affix frames to the various parts of the mechanism and then describe the

  • Dynamic simulation of robot manipulators

    Creator:
    Vora, Younus
    Abstract:
    A program has been written to investigate the dynamics of robot manipulators during task execution. The program simulates robot motion along a path specified by the user. A smooth trajectory is generated by interpolation in joint space. Forces and torques on actuators are calculated at intermediate points, using a recursive...
    Resource Type:
    Masters Thesis
    Full Text:
    calculated at intermediate points, using a recursive Lagrangian formulation of manipulator dynamics. Plots

  • A model reference adaptive system for control of a flexible mechanical manipulator

    Creator:
    Lee, Byeung Kyun
    Abstract:
    For control of a flexible manipulator, the assumed- mode method is applied to the mathematical model of the model reference adaptive system. In the assumed-mode method, the flexible, continuous manipulator is described by a limited number of degrees of freedom. A modified model reference adaptive system is studied for direct...
    Resource Type:
    Dissertation
    Full Text:
    flexible mechanical manipulator AN ABSTRACT OF THE THESIS OF Byeung Kyun Lee for the degree of Doctor of

  • Improved Lyapunov-based decentralized adaptive controller

    Creator:
    Dai, Reza A.
    Abstract:
    An improved robot manipulator decentralized non-linear adaptive controller that performs well in the presence of disturbances with unknown parameters and non-linearities is presented in this work. The proposed decentralized adaptive structure is a modification of the controller developed by Seraji [13-17] and is characterized by an auxiliary signal that compensates...
    Resource Type:
    Masters Thesis
    Full Text:
    Control of A Robot Manipulator with Closed-Kinematic Chain Mechanism," Robotics and Manufacturing

  • Robust controller design for robotic manipulators with saturation

    Creator:
    Liang, Zuyang
    Abstract:
    The development of modern industries calls for the robotic manipulators with high speed and accurate tracking performance. Many authors have paid attention to robust control of robotic manipulators; however, only few authors have also considered the control problem of manipulators with power limitation. In this dissertation, the robotic manipulator is...
    Resource Type:
    Dissertation
    Full Text:
    manipulator is modeled as an uncertain system, with such uncertainties as varying moments of inertia

  • Analytical and visual tools for robot kinematics

    Creator:
    Harris-Coppola, Marcia M.
    Abstract:
    Computer control of a robot arm's motion requires kinematic algorithms for relating the state of a particular arm's joints to the position and orientation of its tool in three-dimensional space. To design such algorithms requires mathematical formulation of the kinematics of the arm. The resulting long, tedious algebraic manipulations suggest...
    Resource Type:
    Masters Thesis
    Full Text:
    Algorithm 59 5.2 Generating the Inverse Kinematic Algorithm 60 5.3 The Manipulator Jacobian 62 6

  • Development of a control system for a walking machine leg

    Creator:
    Thompson, Eric William
    Abstract:
    This thesis presents a control system for a walking machine leg. The leg is representative of one of the six legs required for a proposed walking machine based on the geometry of the darkling beetle. Each of the three joints is controlled by a DC servo motor mounted to the...
    Resource Type:
    Masters Thesis
    Full Text:
    DARKLING BEETLE 6 3. KINEMATICS OF A THREE LINK MANIPULATOR 9 4. PATH PLANNING FOR A MANIPULATOR 16 5

  • Robust nonlinear decentralized control of robot manipulators

    Creator:
    Jimenez, Ronald, 1964-
    Abstract:
    A new decentralized nonlinear controller for Robot Manipulators is presented in this thesis. Based on concepts of Lyapunov stability theory and some control ideas proposed in [3]-[7], we obtain continuous nonlinear decentralized control laws which guarantee position and velocity tracking to within an arbitrarily small error. Assumptions based on physical...
    Resource Type:
    Masters Thesis
    Full Text:
    works on two of the links of the Puma 560 Manipulator. The main contribution of this thesis is that it