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Algorithms for adaptive control of two-arm flexible manipulators under uncertainty

机译：不确定条件下双臂柔性机械臂自适应控制算法

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摘要

A nonlinear extension of model reference adaptive control (MRAC) technique is used to guide a double arm nonlinearizable robot manipulator with flexible links, driven by actuators collocated with joints subject to uncertain payload and inertia. The objective is to track a given simple linear and rigid but compatible dynamical model in real, possible stipulated time and within stipulated degree of accuracy of convergence while avoiding collision of the arms. The objective is attained by a specified signal adaptive feedback controller and by adaptive laws, both given in closed form. A case of 4 DOF manipulator illustrates the technique.

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Skowronski, J. M.;
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年度 1987
页码 1-9
总页数 9
原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
ADAPTIVE CONTROL; ALGORITHMS; CONTROL THEORY; FEEDBACK CONTROL; FLEXIBLE BODIES; MANIPULATORS; ROBOTICS; ROBOTS; ACTUATORS; COLLISION AVOIDANCE; DYNAMIC MODELS; INERTIA; JOINTS (JUNCTIONS); NONLINEARITY;

机译：自适应控制;算法;控制理论;反馈控制;灵活的身体;操盘手ROBOTICs;机器人;动器;避免碰撞;动态模型;惯性; JOINTs（JUNCTIONs）;非线性;

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专利

1. Algorithms for adaptive control of two-arm flexible manipulators under uncertainty [J] . Skowronski J.M. IEEE Transactions on Aerospace and Electronic Systems . 1988,第5期

机译：不确定性下两臂柔性机械臂的自适应控制算法
2. New hybrid adaptive neuro-fuzzy algorithms for manipulator control with uncertainties - Comparative study [J] . Srinivasan Alavandar, M.J. Nigam ISA Transactions . 2009,第4期

机译：具有不确定性的机械手控制的新型混合自适应神经模糊算法-比较研究
3. Adaptive sliding mode control of n flexible-joint robot manipulators in the presence of structured and unstructured uncertainties [J] . Zaare Saeed, Soltanpour Mohammad Reza, Moattari Mazda Multibody system dynamics . 2019,第4期

机译：在结构和非结构化不确定性存在下N个柔性联合机器人机械手的自适应滑模控制
4. Cooperative control of a two-arm flexible manipulator with redundancy [C] . Miyabe, T., Konno, . 2002

机译：具有冗余的两臂柔性机械臂的协作控制
5. POSITION CONTROL OF MECHANICAL MANIPULATORS BY USING NONLINEAR ADAPTIVE CONTROL ALGORITHM (FLEXIBLE, BEAMS). [D] . HUANG, SHIUH-JER. 1986

机译：机械手的位置控制通过使用非线性自适应控制算法（柔性，梁）来进行。
6. Randomized controlled two-arm interventional multicenter study on risk-adapted damage control orthopedic surgery of femur shaft fractures in multiple-trauma patients [O] . Dieter Rixen, Eva Steinhausen, Stefan Sauerland, 2016

机译：多创伤患者股骨干骨折风险适应性损伤控制骨科手术的随机对照两臂介入性多中心研究
7. Algorithms for adaptive control of two-arm flexible manipulators under uncertainty [O] . Skowronski J. M. 1987

机译：不确定性下两臂柔性机械臂的自适应控制算法

Algorithms for adaptive control of two-arm flexible manipulators under uncertainty

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