Titlebook: Robotic Systems; Advanced Techniques Spyros G. Tzafestas Book 1992 Springer Science+Business Media Dordrecht 1992 Tracking.kinematics.mobi

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A Decentralized Adaptive Controller for Robot Manipulator Trajectory Controls accu rat. e trajectory tracking. The control law is based on the independent. joint. control and self-tuning control philosophies. The result.ing controller is simple in structure, computationally fast and amenable to parallel processing implementation.

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Robust Control of Robot Arms Using the Variable Structure Approachto variable structure systems. According to a suitable switching logic the structure is changed, i.e. it switches from one continuous function to another continuous function of the state. In sliding mode the state follows the switching surface and the dynamics of the robot have no influence on the t

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A Comparison of Direct Adaptive Controllers Applied to a Class 1 Manipulatormain emphasis is on the experimental results, and the relative efficacy of each algorithm. However, we also draw comparisons on the structure of each algorithm, and the corresponding implications for discrete-time implementations. The main conclusion is that the decentralised version of the Minimal

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Model Reference Adaptive Control (MRAC) of Robotic Manipulators using a Modified Output Error Methodntegrated dynamical model of a manipulator and actuators, the defined new regressors and augmented error in the modified output error method result a closed-loop system that is globally asymptotically stable without over-parameterization. Knowledge of the high frequency gain sign of the unknown plan

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Book 1992ic systems have intelligence features, andare able to perform dexterous and intelligent human-like actionsthrough appropriate combination of learning, perception, planning,decision making and control. .This book presents advanced concepts, techniques and applicationsreflecting the experience of a wi

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A Comparison of Direct Adaptive Controllers Applied to a Class 1 Manipulator flops per sampling interval. MCS is classed as a direct adaptive controller[3]. The two other direct adaptive controllers of Seraji [4] and Oh and Jamshidi [5] did not perform as well as MCS: model-following was not so close, noise was more of a problem and the implemented forms were more complicated.