Open AccessJournal Article
On the Voltage-Based Control of Robot Manipulators
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TLDR
In this article, a novel approach for controlling electrically driven robot manipulators based on voltage control is presented, where feedback linearization is applied on the electrical equations of the dc motors to cancel the current terms which transfer all manipulator dynamics to the electrical circuit of motor.Abstract:
This paper presents a novel approach for controlling electrically driven robot manipulators based on voltage control. The voltage-based control is preferred comparing to torque-based control. This approach is robust in the presence of manipulator uncertainties since it is free of the manipulator model. The control law is very simple, fast response, efficient, robust, and can be used for high-speed tracking purposes. The feedback linearization is applied on the electrical equations of the dc motors to cancel the current terms which transfer all manipulator dynamics to the electrical circuit of motor. The control system is simulated for position control of the PUMA 560 robot driven by permanent magnet dc motors.read more
Citations
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Proceedings ArticleDOI
Adaptive Control of Robot Manipulators Using the Voltage Control Strategy
TL;DR: The asymptotic convergence of tracking error to zero as well as the boundedness of all system states are proven in the proposed adaptive control system for the tracking control of robot manipulators.
Proceedings ArticleDOI
Compensation of Fuzzy Approximation Error in the Control of Robot Manipulators
Sara Fateh,Mohammad Mehdi Fateh +1 more
TL;DR: In this paper, the fuzzy approximation error is compensated by a sliding mode technique to achieve a superior tracking performance and the results show its superiority compared to Adaptive Fuzzy Control (AFC) without approximation error compensation.
Journal ArticleDOI
Adaptive formation control of leader-follower mobile robots using reinforcement learning and the Fourier series expansion.
TL;DR: In this paper , a formation controller for leader-follower mobile robots is presented based on reinforcement learning and the Fourier series expansion, which is designed based on the dynamical model in which permanent magnet direct-current motors are included as actuator.
Journal ArticleDOI
Superior Adaptive Fuzzy Sliding Mode Control of Electrically Driven Robot Manipulators
Sara Fateh,Mohammad Mehdi Fateh +1 more
Proceedings ArticleDOI
Decentralized adaptive fuzzy controller by adaptive PSO approach for industrial robots
TL;DR: A decentralized adaptive fuzzy controller by adaptive PSO approach (APSODAFC) based on voltage control strategy (VCS) is produced to compensate the nonlinearity, complexity and uncertainty effect of flexible-joint robotic systems.
References
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Book
Introduction to Robotics mechanics and Control
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
Book
Robot dynamics and control
TL;DR: This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control, providing background material on terminology and linear transformations and examples illustrating all aspects of the theory and problems.
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Introduction to Robotics
TL;DR: Invention to Robotics provides both an introductory text for students coming new to the field and a survey of the state of the art for professional practitioners.
Journal ArticleDOI
A robotics toolbox for MATLAB
TL;DR: The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories.
Book
Model-Based Control of a Robot Manipulator
TL;DR: Model-based control of a robot manipulator has been studied in this paper, where the authors present the first integrated treatment of many of the most important recent developments in using detailed dynamic models of robots to improve their control.