Control of Flexible Link Manipulators in Hazardous Environment

机译：危险环境中柔性连杆机械手的控制

获取原文

获取原文并翻译 | 示例

页面导航

摘要
著录项
相似文献
相关主题

摘要

Flexibility plays a vital role in system dynamics when robot design is slim and the payload ratio is small. In such situations, ignoring flexibility can result in unstable/oscillatory behavior. In this paper, a single flexible link experimental testbed is constructed and tested. The computing facilities are capable of fast update of the control action which is a necessary part of control of flexible robots with fast operation. A novel hierarchical fuzzy controller is then implemented and initial experimental results are presented.

机译：当机器人设计纤巧且有效负载比小时，灵活性在系统动力学中起着至关重要的作用。在这种情况下，忽略灵活性可能会导致不稳定/振荡行为。在本文中，构建并测试了单个柔性链接实验床。计算设备能够快速更新控制动作，这是快速操作灵活机器人进行控制的必要部分。然后实现了一种新颖的分层模糊控制器，并给出了初步的实验结果。

著录项

来源
《1998 Joint Conference on the Environment, 1998, Mar 31-Apr 1, 1998, Albuquerque, NM》|1998年|p.231-235|共5页
会议地点 Albuquerque NM(US)
作者
M.-R. Akbarzadeh-T.; M. Jamshidi;
展开▼
作者单位

NASA Center for Autonomous Control Engineering Department of Electrical Engineering and Computer Engineering University of New Mexico, Albuquerque, NM 87131, USA;

展开▼
会议组织
原文格式 PDF
正文语种 eng
中图分类环境保护管理;
关键词

相似文献

外文文献
中文文献
专利

1. Modelling and control of manipulators with flexible links working on land and underwater environments [J] . Levent Guemuesel, Nurhan Guersel OEzmen Robotica . 2011,第PTa3期

机译：具有在陆地和水下环境中工作的灵活链接的机械手的建模和控制
2. Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point [J] . Fayazi Ali, Pariz Naser, Karimpour Ali, Robotica . 2020,第9期

机译：单挂柔性机械手的自适应滑模阻抗控制与未知中间点的环境交互
3. A Composite Adaptive Control with Flexible Quantity Feedback for Flexible-Link Manipulators [J] . Lin-Chang Lin, Sy-Lin Yen Journal of robotic systems . 1996,第5期

机译：柔性连杆机械臂的具有量反馈的复合自适应控制
4. Dynamical Analysis of Flexible Space Manipulator with Deployable Links Dynamical Analysis of Flexible Space Manipulator with Deployable Links Dynamical Analysis of Flexible Space Manipulator with Deployable Links Dynamical Analysis of Flexible Space [C] . Tadashi KOMATSU, Togo SAKAI, V. J. MODI 日本ロボット学会学術講演会 . 2001

机译：柔性空间机械手的动态分析可展开柔性空间机械手动力分析，可展开柔性空间机械手动力分析，可展开柔性空间的动力学分析
5. Modelling and experimental vibration control of a two-link three-dimensional manipulator with flexible links. [D] . Zaki, Ahmed S.A. 1994

机译：具有柔性连杆的两连杆三维操纵器的建模和实验振动控制。
6. Two-Time Scale Virtual Sensor Design for Vibration Observation of a Translational Flexible-Link Manipulator Based on Singular Perturbation and Differential Games [O] . Jinyong Ju, Wei Li, Yuqiao Wang, 2014

机译：基于奇异摄动和微分博弈的平移柔性连杆机械手振动观测的两尺度虚拟传感器设计
7. 1SB-03 1SB-03 Body-cell dynamic mechano-mechanical linkage : softness, flexibility, fluctuation and controllability derived from ECM environment as "niche for cells in our body"(1SB Body-cell dynamic linkage: softness, flexibility, fluctuation and controllability,Symposium,The 50th Annual Meeting of the Biophysical Society of Japan) [O] . Yoriko Atomi, Miho Shimizu, Eri Fujita, 2012

机译：1SB-03 1SB-03体内细胞动态机械连接：柔软性，柔韧性，波动性和可控性，从ECM环境衍生为“我们身体细胞的Niche”（1SB体内细胞动态连杆：柔软性，柔韧性，波动和可控性，研讨会，日本生物物理学会的第50次年会）
8. Experiments in High-Performance Control of a Multi Link Flexible Manipulator Witha Mini-Manipulator [R] . Ballhaus, W. L. 1996

机译：多连杆柔性机械手Witha微型机械手的高性能控制实验

Control of Flexible Link Manipulators in Hazardous Environment

摘要

著录项

相似文献

相关主题

期刊订阅