scholarly journals FPGA-Realization of a Motion Control IC for Robot Manipulator

10.5772/6211 ◽  
2008 ◽  
Author(s):  
Ying-Shieh Kung ◽  
Chia-Sheng Che
Keyword(s):  
Motion Control ◽  
Robot Manipulator

Experimental Verification of Adaptive Dominant Type Hybrid Adaptive and Learning Controller for Trajectory Tracking of Robot Manipulators

2013 ◽  
Vol 25 (4) ◽  
pp. 737-747 ◽  
Author(s):  
Munadi ◽  
◽  
Tomohide Naniwa ◽  
Keyword(s):  
Adaptive Control ◽  
Motion Control ◽  
Trajectory Tracking ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Tracking Error ◽  
Control Input ◽  
Dominant Type ◽  
Dynamical Parameters ◽  
Small Robot

This paper presents an experimental study to verify an adaptive dominant type hybrid adaptive and learning controller for acquiring an accurate trajectory tracking of periodic desired trajectory of robot manipulators. The proposed controller is developed based on combining the model-based adaptive control (MBAC), repetitive learning control (RLC) and proportionalderivative (PD) control in which the MBAC input becomes dominant than other inputs. Dominance of adaptive control input gives the advantage that the proposed controller could adjust the feed-forward motion control input immediately after changing the desired motion or load of the manipulator. In motion control law, the proposed controller uses only one vector to estimate the unknown dynamical parameters. It makes the proposed controller as a simpler hybrid adaptive and learning controller which does not need much computational power and also is easily be implemented for real applications of robot manipulators. The proposed controller is verified through experiments on a four-link small robot manipulator as representation of a scale robot manipulator to ensure this controller can be applied in the real applications of robot manipulators. The experimental results show the effectiveness of the proposed controller by indicating the position tracking error approaches to zero.

scholarly journals Model Predictive Control With Integral Compensation for Motion Control of Robot Manipulator in Joint and Task Spaces

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 107063-107075
Author(s):  
Yuhan Chen ◽  
Xiao Luo ◽  
Baoling Han ◽  
Qingsheng Luo ◽  
Lijun Qiao
Keyword(s):  
Model Predictive Control ◽  
Motion Control ◽  
Predictive Control ◽  
Robot Manipulator ◽  
And Task

Dynamics and Motion Control of Flexible Manipulators With Multi-Degree of Kinematic Redundancy

2005 ◽  
Author(s):  
Yue-Qing Yu ◽  
Ji-Yun Yang
Keyword(s):  
Motion Control ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Flexible Manipulator ◽  
Flexible Manipulators ◽  
Kinematic Redundancy ◽  
Flexible Robot ◽  
Flexible Robots ◽  
Dynamic Performances ◽  
Self Motion

The dynamics and motion control of flexible robot manipulators is an advanced topic in the study of robotics. The precise tracking of the end-effector trajectory of flexible robots can be improved by the self-motion of redundant manipulators. The flexible manipulator with single-degree of kinematic redundancy has been considered only at present. This study addresses on the dynamics and motion control of flexible robots with multi-degree of kinematic redundancy. Compared with the robot with one-degree of redundancy, the optimal motion programming of a flexible robot manipulator with two-degree of redundancy has been obtained successfully based on pseudo-inverse solution. The numerical results of planar three-link and four-link flexible manipulators show the advantage of multi-degree of redundancy in improving the kinematic and dynamic performances of flexible robot manipulators.

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