15 research outputs found
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Discrete-time explicit model reference adaptive control for robotic manipulators
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 high performance with conventional control
strategies. This desired high performance in terms of
speed and accuracy can be obtained by adaptive control
techniques.
Considering the effects of gravity, process noise and
payload uncertainty the MRAC approach is investigated
using simulation for a three degree of freedom industrial
robot. These simulation results show that adaptive control
techniques can provide robust properties in spite of poor
a priori information regarding the robot dynamics and
operating circumstances
Introduction to autonomous manipulation: case study with an underwater robot, SAUVIM
“Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples and experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better
Introduction to Autonomous ManipulationCase Study with an Underwater Robot, SAUVIM /
XVII, 162 p. 76 illus., 73 illus. in color.onlin
A General Singularity Avoidance Framework for Robot Manipulators: Task Reconstruction Method
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All Kinds of singularity avoidance in redundant manipulators for autonomous manipulation
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An hybrid methodology for RL-based behavior coordination in a target following mission with an AUV
Proposes a behavior-based scheme for high-level control of autonomous underwater vehicles (AUVs). Two main characteristics can be highlighted in the control scheme. Behavior coordination is done through a hybrid methodology, which takes in advantages of the robustness and modularity in competitive approaches, as well as optimized trajectorie