By An-chyau Huang

This e-book introduces an unified functionality approximation method of the keep watch over of doubtful robotic manipulators containing normal uncertainties. it really works at no cost area monitoring regulate in addition to compliant movement keep watch over. it really is appropriate to the inflexible robotic and the versatile joint robotic. despite actuator dynamics, the unified technique continues to be possible. a majority of these beneficial properties make the ebook stand proud of different current guides.

Show description

Read or Download Adaptive Control of Robot Manipulators: A Unified Regressor-free Approach PDF

Best robotics & automation books

Robot Behaviour: Design, Description, Analysis and Modelling

"Robot Behaviour - layout, Description, research and Modelling" is the successor to the 1st textbook released during this box: clinical equipment in cellular Robotics and introduces the rising box of medical equipment in cellular robotics to a much broader viewers of complicated undergraduate scholars, postgraduate scholars in addition to researchers in robotics, man made intelligence, cognitive technology, ethology, biology and psychology.

Flugmechanik der Hubschrauber: Technologie, das flugdynamische System Hubschrauber, Flugstabilitäten, Steuerbarkeit

Als integrierter Bestandteil des delivery- und Luftfahrtsystems ist der Hubschrauber heute weder in zivilen noch in militärischen Bereichen zu entbehren. Seinen flugtechnischen Eigenschaften liegt die Flugmechanik zu Grunde, die in diesem praxisorientierten Buch umfassend beschrieben wird. Da die Kosten und Flugeigenschaften zu einem überwiegenden Teil schon zu einem sehr frühen Zeitpunkt der Entwicklung festgelegt werden, ist eine frühe Einbringung von zu erfüllenden Forderungen und einzuhalteneden Vorschriften äußerst wichtig.

Perturbation Techniques for Flexible Manipulators

A manipulator, or 'robot', contains a chain of our bodies (links) hooked up by means of joints to shape a spatial mechanism. often the hyperlinks are attached serially to shape an open chain. The joints are both revolute (rotary) or prismatic (telescopic), numerous combos of the 2 giving a large va­ riety of attainable configurations.

Linear Control System Analysis and Design with MATLAB®

Completely classroom-tested and confirmed to be a helpful self-study spouse, Linear regulate procedure research and layout: 6th variation offers a thorough assessment of contemporary keep watch over idea and standard regulate procedure layout utilizing in-depth reasons, diagrams, calculations, and tables. retaining arithmetic to a minimal, the publication is designed with the undergraduate in brain, first construction a origin, then bridging the distance among regulate conception and its real-world software.

Extra resources for Adaptive Control of Robot Manipulators: A Unified Regressor-free Approach

Sample text

The persistent excitation condition is investigated for the convergence of estimated parameters. Two modifications to the update law are introduced to robustify the adaptive loop when the system contains unmodeled dynamics or external disturbances. 1 MRAC of LTI scalar systems Consider a linear time-invariant system described by the differential equation xɺ p = a p x p + b p u (1) where x p ∈ℜ is the state of the plant and u ∈ℜ the control input. The parameters ap and bp are unknown constants, but sgn(bp) is available.

A nn ) . An identity matrix is a diagonal matrix with a11 = ⋯ = a nn = 1. A matrix A ∈ℜ n × n is nonsingular if ∃B ∈ℜ n × n such that AB = BA = I where I is an n × n identity matrix. If B exists, then it is known as the inverse of A and is denoted by A −1 . The inverse operation has the following properties: ( A −1 ) −1 = A (2a) ( A T ) −1 = ( A −1 )T (2b) (α A) −1 = 1 α A −1 ∀α ∈ℜ, α ≠ 0 ( AB) −1 = B −1A −1 ∀B ∈ℜ n × n with valid inverse (2c) (2d) A matrix A ∈ℜ n × n is said to be positive semi-definite (denoted by A ≥ 0 ) if x Ax ≥ 0 ∀x ∈ℜ n .

A matrix A ∈ℜ n × n is diagonal if aij = 0 , ∀i ≠ j . , a nn ) . An identity matrix is a diagonal matrix with a11 = ⋯ = a nn = 1. A matrix A ∈ℜ n × n is nonsingular if ∃B ∈ℜ n × n such that AB = BA = I where I is an n × n identity matrix. If B exists, then it is known as the inverse of A and is denoted by A −1 . The inverse operation has the following properties: ( A −1 ) −1 = A (2a) ( A T ) −1 = ( A −1 )T (2b) (α A) −1 = 1 α A −1 ∀α ∈ℜ, α ≠ 0 ( AB) −1 = B −1A −1 ∀B ∈ℜ n × n with valid inverse (2c) (2d) A matrix A ∈ℜ n × n is said to be positive semi-definite (denoted by A ≥ 0 ) if x Ax ≥ 0 ∀x ∈ℜ n .

Download PDF sample

Rated 4.42 of 5 – based on 24 votes