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SDRE applied to position and vibration control of a robot manipulator with a flexible link
(2016-01-01)
This paper presents position and vibration control of a flexible robot composed of two rigid and one flexible links. Position is controlled by the current applied to the DC motor armature. To control vibrations of the ...
SDRE APPLIED TO POSITION AND VIBRATION CONTROL OF A ROBOT MANIPULATOR WITH A FLEXIBLE LINK
(Polish Soc Theoretical & Applied Mechanics, 2016-01-01)
This paper presents position and vibration control of a flexible robot composed of two rigid and one flexible links. Position is controlled by the current applied to the DC motor armature. To control vibrations of the ...
Robot coordination using task-priority and sliding-mode techniques
(Pergamon-Elsevier Science Ltd., 2014-01)
In this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the ...
Adaptive Neural Sliding Mode Control in Discrete Time for a SCARA robot arm
(Institute of Electrical and Electronics Engineers, 2016-06)
This work presents a neuro-adaptive control method in sliding mode control designed in discrete time for SCARA robot arm. The proposed control structure is based on neuro-adaptive sliding mode control to adjust dynamics ...
Discrete-time sliding mode neuro-adaptive controller for SCARA robot arm
(Springer, 2017-12)
This work presents a discrete-time sliding mode neuro-adaptive control (DTSMNAC) method for robot manipulators. Due to the dynamics variations and uncertainties in the robot model, the trajectory tracking of robot manipulators ...
Notes on Newton-Euler formulation of robotic manipulators
(Sage Publications Ltd, 2012-01-01)
The equations corresponding to Newton-Euler iterative method for the determination of forces and moments acting on the rigid links of a robotic manipulator are given a new treatment using composed vectors for the representation ...
A Floating-point Extended Kalman Filter Implementation for Autonomous Mobile Robots
(SPRINGER, 2009)
Localization and Mapping are two of the most important capabilities for autonomous mobile robots and have been receiving considerable attention from the scientific computing community over the last 10 years. One of the ...
Using a 3DOF Parallel Robot and a Spherical Bat to hit a Ping-Pong Ball
(Sage Publications, 2014-03)
Playing the game of Ping-Pong is a challenge to human abilities since it requires developing skills, such as fast reaction capabilities, precision of movement and high speed mental responses. These processes include the ...