Open AccessJournal Article
On the Voltage-Based Control of Robot Manipulators
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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A robust anti-windup control design for electrically driven robots — Theory and experiment
TL;DR: In this article, a robust anti-windup control (RAWC) method is proposed for n-Degree-of-freedom (DOF) electrically driven robots considering the actuator voltage saturation.
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Trajectory tracking of flexible joint manipulators actuated by DC-motors under random disturbances
Mingyue Cui,Zhaojing Wu +1 more
TL;DR: A random model is constructed for a class of flexible joint manipulators actuated by DC-motors such that the state of closed-loop system has an asymptotic gain in the 2nd moment and the mean square of tracking error converges to an arbitrarily small neighborhood of zero by tuning design parameters.
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Type-2 Fuzzy Control for a Flexible- joint Robot Using Voltage Control Strategy
TL;DR: Simulation results show the superiority of the IT2FLC over the T1FLC in terms of accuracy, robustness and interpretability.
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sEMG-based impedance control for lower-limb rehabilitation robot
TL;DR: An electromyograms-based robust impedance control for a lower-limb rehabilitation robot using a voltage-based strategy that uses surface electromyogram (sEMG) signals in place of force sensors to estimate the exerted force.
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Robust control of electrically driven robots using adaptive uncertainty estimation
TL;DR: This paper presents a novel robust control for electrically driven robot manipulators by designing an adaptive uncertainty estimator based on the first order Taylor series that is simpler, less computational, and more efficient.
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.