Thematische Bibliographien / Computed Torque Control

Inhaltsverzeichnis

  1. Zeitschriftenartikel
  2. Dissertationen
  3. Bücher
  4. Buchteile
  5. Konferenzberichte

Auswahl der wissenschaftlichen Literatur zum Thema „Computed Torque Control“

Autor: Grafiati
Veröffentlicht am 4. Juni 2021
Zuletzt aktualisiert am 19. Februar 2022

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Zeitschriftenartikel zum Thema "Computed Torque Control"

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YOSHIKAWA, Tsuneo. „Digital control by computed torque method.“ Journal of the Robotics Society of Japan 7, Nr. 3 (1989): 237–42. http://dx.doi.org/10.7210/jrsj.7.3_237.

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YOSHIDA, Koichi, Takayuki YAMADA, Takeshi TSUJIMURA und Tetsuro YABUTA. „Computed Torque Method of Manipulator Using Disturbance Compensation Control“. Transactions of the Society of Instrument and Control Engineers 27, Nr. 3 (1991): 341–48. http://dx.doi.org/10.9746/sicetr1965.27.341.

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3

Lammerts, I. M. M., F. E. Veldpaus, M. J. G. Van de Molengraft und J. J. Kok. „Adaptive Computed Reference Computed Torque Control of Flexible Robots“. Journal of Dynamic Systems, Measurement, and Control 117, Nr. 1 (01.03.1995): 31–36. http://dx.doi.org/10.1115/1.2798520.

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This paper presents a motion control technique for flexible robots and manipulators. It takes into account both joint and link flexibility and can be applied in adaptive form if robot parameters are unknown. It solves the main problems that are related to the fact that the number of degrees of freedom exceeds both the number of actuators and the number of output variables. The proposed method results in trajectory tracking while all state variables remain bounded. Global, asymptotic stability is ensured for all values of the stiffnesses of joints and links. To show the characteristics of the proposed control law, some simulation results are presented.
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Chung, Wen-Yeuan, und Kenneth J. Waldron. „An Integrated Control Strategy for Multifingered Systems“. Journal of Dynamic Systems, Measurement, and Control 117, Nr. 1 (01.03.1995): 37–42. http://dx.doi.org/10.1115/1.2798521.

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A method of force allocation by optimizing the friction angles at finger contacts was combined with the computed torque method to find the torques to be commanded at finger joints for multifingered systems. In this way, slip can be avoided when the object is grasped or manipulated. The proposed method can be used to efficiently find the input torques, and is applicable for real-time computation. A history-based method is also proposed to improve the smoothness of the input torque commands. Three-dimensional simulation results are given.
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Lee, Jyh-Jone, und Lung-Wen Tsai. „Torque Resolver Design for Tendon-Driven Manipulators“. Journal of Mechanical Design 115, Nr. 4 (01.12.1993): 877–83. http://dx.doi.org/10.1115/1.2919282.

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Given a set of desired joint torques in an n-DOF tendon-driven manipulator with n + 1 control tendons, the determination of tendon forces is an indeterminate problem. Usually, the pseudo-inverse technique is used to solve for such a problem. In this paper, rather than using the pseudo-inverse technique, an efficient methodology for transforming joint torques (n elements) to motor torques (n + 1 elements) has been developed. This technique, called “torque resolver,” utilizes two circuit-like operators to transform torques between the two different vector spaces. It can be easily programmed on a digital computer or implemented into an analog-circuit system. It is hoped that this technique will make real-time computed-torque control feasible. The technique has been demonstrated through the dynamic simulation of a three-DOF manipulator.
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Rahmani, Mehran, und Ahmad Ghanbari. „Computed Torque Control of a Caterpillar Robot Manipulator Using Neural Network“. Advanced Engineering Forum 15 (Februar 2016): 106–18. http://dx.doi.org/10.4028/www.scientific.net/aef.15.106.

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This paper presents a neural computed torque controller, which employs to a Caterpillar robot manipulator. A description to exert a control method application neural network for nonlinear PD computed torque controller to a two sub-mechanisms Caterpillar robot manipulator. A nonlinear PD computed torque controller is obtained via utilizing a popular computed torque controller and using neural networks. The proposed controller has some advantages such as low control effort, high trajectory tracking and learning ability. The joint angles of two sub-mechanisms have been obtained by using the numerical simulations. The discovered figures show that the performance of the neural computed torque controller is better than a conventional computed torque controller in trajectory tracking and reduction of setting time. Finally, snapshots of gain sequences are demonstrated.
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Lima Costa, Thamiris, Fabian Andres Lara-Molina, Aldemir Aparecido Cavalini Junior und Erik Taketa. „Robust H∞ Computed torque Control for Manipulators“. IEEE Latin America Transactions 16, Nr. 2 (Februar 2018): 398–407. http://dx.doi.org/10.1109/tla.2018.8327392.

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Shao, Bing, En Tao Yuan und Zhong Hai Yu. „The Real-Time Control of Space Robot by Computed Torque Control Law“. Advanced Materials Research 225-226 (April 2011): 978–81. http://dx.doi.org/10.4028/www.scientific.net/amr.225-226.978.

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Lie groups and Lie algebras are used to research the dynamics and computed torque law control of free flying space robot systems. First the adjoint transformations and adjoint operators of Lie groups and Lie algebras are discussed. Then the free flying base systems are transformed to fixed base systems. The inverse dynamics and forward dynamics are described with Lie groups and Lie algebras. The computed torque control law is used to simulate with the results of dynamics. The simulation results show that with the method the dynamical simulation problems of space robot can be solved quickly and efficiently. This built the foundation of real-time control based on dynamics. The computed torque control law has good performance.
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Goldenberg, A. A., J. A. Apkarian und H. W. Smith. „An Approach to Adaptive Control of Robot Manipulators Using the Computed Torque Technique“. Journal of Dynamic Systems, Measurement, and Control 111, Nr. 1 (01.03.1989): 1–8. http://dx.doi.org/10.1115/1.3153014.

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Manipulator’s control system based on computed torque techniques incorporates a model of the manipulator dynamics. The nominal torque, computed using this mathematical model, does not reflect the effects of unknown loadings and uncertainty in modelling the parameters. An approach is presented which compensates for unknown loading and parameter uncertainty. This compensation is based on the “recursive” identification of a new dynamics operator which maps a vector of generalized coordinates into the vector of generalized forces (joint torques). The identification is based on a least-square approximation. Using the identified operator, which provides the compensated nominal torque, the system is controlled in closed-loop to generate regulation of the error in joint coordinates. The regulation is obtained using a common discrete optimization feedback law which is based on a recursive identification of the first order approximation of the dynamics model. The approach is illustrated with simulation results.
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Kang, Bong Soo, Soo Hyun Kim, Yoon Keun Kwak und Craig C. Smith. „Robust Tracking Control of a Direct Drive Robot“. Journal of Dynamic Systems, Measurement, and Control 121, Nr. 2 (01.06.1999): 261–69. http://dx.doi.org/10.1115/1.2802464.

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This paper presents a robust controller for tracking control of a direct-drive robot. The proposed controller consists of two portions: a computed torque method which precompensates for dynamics of the modeled plant and an H∞ controller which postcompensates for residual errors which are not completely removed by the computed torque method. Experimental methods for identifying appropriate model structure and parameters are presented, and three specific controller types are compared. Using the robot designed in our laboratory, the combined controller reduced tracking errors by one half compared to computed torque control alone, and by one sixth compared to conventional independent joint control.
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Dissertationen zum Thema "Computed Torque Control"

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Sankaran, Jayavel. „Real-time computed torque control of flexible-joint robots“. Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ28868.pdf.

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VALLE, CARLOS MAGNO CATHARINO OLSSON. „COMPUTED-TORQUE CONTROL OF A SIMULATED BIPEDAL ROBOT WITH LOCOMOTION BY REINFORCEMENT LEARNING“. PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2016. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=27798@1.

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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO
CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO
Esta dissertação apresenta o desenvolvimento de um controle híbrido de um robô do tipo humanoide Atlas em regime de locomoção estática para a frente. Nos experimentos faz-se uso do ambiente de simulação Gazebo, que permite uma modelagem precisa do robô. O sistema desenvolvido é composto pela modelagem da mecânica do robô, incluindo as equações da dinâmica que permitem o controle das juntas por torque computado, e pela determinação das posições que as juntas devem assumir. Isto é realizado por agentes que utilizam o algoritmo de aprendizado por reforço Q-Learning aproximado para planejar a locomoção do robô. A definição do espaço de estados, que compõe cada agente, difere da cartesiana tradicional e é baseada no conceito de pontos cardeais para estabelecer as direções a serem seguidas até o objetivo e para evitar obstáculos. Esta definição permite o uso de um ambiente simulado reduzido para treinamento, fornecendo aos agentes um conhecimento prévio à aplicação no ambiente real e facilitando, em consequência, a convergência para uma ação dita ótima em poucas iterações. Utilizam-se, no total, três agentes: um para controlar o deslocamento do centro de massa enquanto as duas pernas estão apoiadas ao chão, e outros dois para manter o centro de massa dentro de uma área de tolerância de cada um dos pés na situação em que o robô estiver apoiado com apenas um dos pés no chão. O controle híbrido foi também concebido para reduzir as chances de queda do robô durante a caminhada mediante o uso de uma série de restrições, tanto pelo aprendizado por reforço como pelo modelo da cinemática do robô. A abordagem proposta permite um treinamento eficiente em poucas iterações, produz bons resultados e assegura a integridade do robô.
This dissertation presents the development of a hybrid control for an Atlas humanoid robot moving forward in a static locomotion regime. The Gazebo simulation environment used in the experiments allows a precise modeling of the robot. The developed system consists of the robot mechanics modeling, including dynamical equations that allow the control of joints by computed-torque and the determination of positions the joints should take. This is accomplished by agents that make use of the approximate Q-Learning reinforcement learning algorithm to plan the robot s locomotion. The definition of the state space that makes up each agent differs from the traditional cartesian one and is based on the concept of cardinal points to establish the directions to be followed to the goal and avoid obstacles. This allows the use of a reduced simulated environment for training, providing the agents with prior knowledge to the application in a real environment and facilitating, as a result, convergence to a so-called optimal action in few iterations. Three agents are used: one to control the center of mass displacement when the two legs are poised on the floor and other two for keeping the center of mass within a tolerance range of each of the legs when only one foot is on the ground. In order to reduce the chance of the robot falling down while walking the hybrid control employs a number of constraints, both in the reinforcement learning part and in the robot kinematics model. The proposed approach allows an effective training in few iterations, achieves good results and ensures the integrity of the robot.
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Gullayanon, Rutchanee. „Motion Control of 3 Degree-Of-Freedom Direct-Drive Robot“. Thesis, Georgia Institute of Technology, 2005. http://hdl.handle.net/1853/6969.

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Modern motion controllers of robot manipulators require knowledge of the system's dynamics in order to intelligently predict the torque command. The main objective for this thesis is to apply various motion controllers on a parallel direct drive robot in simulations and verify if one can take advantage of the model knowledge to improve performance of controllers. The controllers used in this thesis varied from simple PD control with position and velocity reference only applied independently at each joint to more advanced PD control with full dynamic feedforward term and computed torque control, which incorporate full dynamic knowledge of the manipulator. In the first part, a thorough study of deriving dynamic equation using Lagrange formulation has been presented as well as the actual derivation of dynamic equations for MINGUS2000. Next, in order to prepare proper sets of inputs for the simulations, detailed discussions of end effector trajectory path planning and inverse kinematics determination have been presented. Finally, background theories of various controllers used in this thesis have been presented and their simulation results on the closed-chain direct drive robot have been compared for verification purposes.
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Oliveira, Israel Gonçalves de. „Comparação entre as estratégias de controle por torque calculado e controle repetitivo aplicados a manipuladores robóticos“. reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2016. http://hdl.handle.net/10183/156791.

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Este trabalho apresenta uma comparação entre as estratégias de controle por torque calculado e controle repetitivo aplicadas a manipuladores robóticos. O objetivo no uso desses controladores é para que o manipulador siga referência de trajetória periódica no espaço das juntas. O desenvolvimento e implementação dos controladores são focados no manipulador WAM (Whole Arm Manipulator) da Barrett Technology®Inc. Neste trabalho, também são apresentadas uma formulação do modelo não linear do manipulador e as sínteses dos controladores por torque calculado e repetitivo aplicados ao modelo do manipulador linearizado por realimentação. O controlador por torque calculado é apresentado e sintetizado na sua forma clássica. Para o controlador repetitivo, a síntese parte do princípio do modelo interno com a adição de uma estrutura repetitiva e uma realimentação proporcional e derivativa do erro de seguimento de referência O projeto dos ganhos do controlador repetitivo é feito através de um problema de otimização convexa com restrições na forma de inequações matriciais lineares (ou no inglês: Linear Matrix Inequalities - LMI). A formulação do problema de otimização parte da teoria de estabilidade segundo Lyapunov com um funcional Lyapunov-Krasoviskii, adição de um custo quadrático, para ajuste de desempenho, e de um critério de desempenho transitório dado pela taxa de decaimento exponencial da norma dos estados. É apresentada a comparação entre as estratégias de controle e a validação do controlador repetitivo proposto aplicado ao caso com linearização perfeita e ao caso com o modelo não linear do manipulador. No primeiro caso, é feita a simulação do modelo linear do manipulador com adição de um torque de atrito na junta. No segundo caso, é utilizado o sistema ROS (Robot Operating System) com o programa Gazebo simulando o manipulador WAM considerando erros de linearização, isto é, incertezas paramétricas.
This work presents a comparison between the strategies of computed-torque control and repetitive control applied to robotic manipulators. The main objective in use these controllers with the manipulator is to tracking periodic trajectory in joint space. The development and implementation of controllers are focused on the Whole Arm Manipulator (WAM) of the Barrett Technology®Inc. Also featured are a non-linear model formulation of the manipulator and the synthesis of controllers for computed-torque control and repetitive control applied to the manipulator model linearized by state feedback. The computed-torque controller is presented in its classic form. For the repetitive controller, the synthesis is based on the internal model principle with the addition of a repetitive structure and a proportional-derivative reference tracking error feedback. The design of the repetitive controller gains is done through a convex optimization problem with linear matrix inequalities (LMI) constraints. The formulation of the optimization problem is based on the Lyapunov stability theory using a Lyapunov-Krasoviskii functional, addition of a quadratic cost for performance adjustment and a transient performance criteria given by the exponential decay rate of the states norm. A comparison between the control strategies and the validation of the repetitive controller applied to the case with perfect linearization and the case with the non-linear model of the manipulator are presented. In the first case, is made simulations of the linear model of the manipulator in MATLAB program, with the addition of a disturbance modeling the friction torque at the joint. In the second case, is used the Robot Operating System (ROS) with Gazebo program simulating the WAM nonlinear model. In this case, a possible mismatch between the model used for the feedback linearization and the real system is taken into account.
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Machín, Sofía Valentina. „Diseño de un controlador para un vehículo movil“. reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2017. http://hdl.handle.net/10183/172037.

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El siguiente trabajo busca desarrollar y testear un controlador para un robot móvil con fines agrícolas. Enmarcado en un proyecto más grande, que actualmente desarrolla un prototipo de robot móvil con desplazamiento autónomo para colaborar en las tareas agropecuarias, este trabajo parte de las ecuaciones cinemáticas desarrolladas para este prototipo y desarrolla una estrategia de control mediante torque computado para el desplazamiento autónomo del vehículo en el medio y se realizan simulaciones de las mismas. Realizado este trabajo y obteniendo resultados certeros se deja todo pronto para continuar con la instancia experimental en el prototipo.
The following dissertation tries to develop and test a movil robot controller for agricultural purposes. Framed in a bigger proyect that is currently developing a mobile robot prototype with autonomous movement to help with agricultural work, this work starts in the kinematic equations developed for the prototype and develops a control strategy through computed torque control for the autonomous movement of the vehicle and simulations are performed of such computation. With this work finished and with the results obtained is ready to continue with the experimental instance in the prototype.
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Barbeiro, Tácio Luiz de Souza. „Controle de robôs manipuladores subatuados via Síntese-&#956“. Universidade de São Paulo, 2001. http://www.teses.usp.br/teses/disponiveis/18/18133/tde-12082016-160927/.

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Este trabalho trata da implementação de uma técnica de controle robusto, Síntese-μ em um robô manipulador de três graus de liberdade com juntas passivas. A necessidade de um de controle robusto se deve ao fato de que em uma aplicação real o sistema está sujeito a mudanças nos seus parâmetros internos e a distúrbios externos (ruído dos sensores, etc). Aqui, uma metodologia de controle robusto que combina o método do torque computado e controladores robustos projetados via Síntese-μ é proposta e utilizada com êxito. O equacionamento matemático da distância do sistema é apresentado e a linearização é realizada pela realimentação de estados presentes no método. Uma abordagem dos conceitos teóricos presentes na teoria de Síntese-μ é feita e um procedimento de projeto é apresentado. Modelos nominais para diferentes configurações do robô são definidos e controladores robustos são projetados utilizando o método de iterações D-K. O teste e a validação dos controladores projetados são verificados em um ambiente de simulação e também no manipulador experimental UArmII (Underactuated Robot Manipulator II), que é um robô manipulador (equipado com 3 juntas, atuadores e freios) projetado para o estudo de dinâmicas passivas.
This work deals with implementation of a robust control technique, μ-Synthesis, in a mani- pulator robot with three degrees of freedom and passive joints. The necessity of a robust control is due to the fact that in a real application the system is subject to changes in its internal parameters and external disturbances (sensor noise, etc). Here, a robust control methodology that combines the computed torque method and robust controllers designed via μ-Synthesis is proposal and used with success. The mathematical formulation of the system dynamics is presented and the linearization is accomplished by the state feedback included in the method. An overview of theoretical concepts presents in the μ-Synthesis theory is made and a design procedure is presented. Nominal models for all robot\'s configurations are defined and robust controllers are designed using the D-K iterations method. The test and validation of the controllers are realized in a simulation environment and also in the experimental manipulator UArmII (Underactuated Robot Manipulator II), that is a robot manipulator (equipped with 3 joints, actuators and brakes) projected for the study of passive dynamics.
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Nyzen, Robert J. „Analysis and control of an eight degree-of-freedom manipulator“. Ohio : Ohio University, 1999. http://www.ohiolink.edu/etd/view.cgi?ohiou1175796367.

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Almeida, Mateus Vagner Guedes de. „Estudo da concepção de um robô paralelo de três graus de liberdade“. reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2018. http://hdl.handle.net/10183/182416.

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O mecanismo 3-RPS é um mecanismo paralelo que possui três graus de liberdade: rolagem, arfagem e elevação. Tem vantagem em relação ao custo em comparação com o manipulador Plataforma de Stewart em aplicações onde não são necessários seis graus de liberdade e, por ser um mecanismo paralelo, possui maior relação peso/capacidade de carga que robôs seriais. No presente trabalho, um estudo é realizado para a concepção de um robô do tipo 3-RPS. O estudo aborda a cinemática, a dinâmica e estratégia de controle para o robô. Um controle por torque computado é aplicado a um modelo virtual em ambiente CAD em escala 1:1 desenvolvido com o intuito de testar a estratégia de controle elaborada a partir da realização de simulações computacionais do sistema por completo. Ao todo foram realizadas sete simulações para diferentes condições de trajetórias desejadas. No Caso I executou-se primeiramente um sistema idealizado onde o erro de regime tendeu a zero para um comportamento subamortecido. Os ganhos calculados no Caso I idealizado foram aplicados então no Caso I com o modelo virtual onde verificou-se que os ganhos calculados não foram suficientes para garantir a trajetória desejada do robô. Com os ganhos aumentados em cem vezes, verificou-se que o erro de regime ficou na ordem de 0,22 mm, sendo o valor considerado aceitável. Nas simulações subsequentes, o erro de regime nos Casos II e III foram também de 0,22 mm e nos Casos IV, V, VI e VII o erro máximo de trajetória não ultrapassou os 0,22 mm estipulados.
The 3-RPS mechanism is a parallel mechanism that has three degrees of freedom: roll, pitch and heave. It has a cost advantage compared to the Stewart Platform manipulator in applications where six degrees of freedom are not required and, because it is a parallel mechanism, has a higher weight / load ratio than serial robots. In the present work, a study is carried out for the design of a 3-RPS robot. The study addresses the kinematics, dynamics and control strategy for the robot. A computed torque control is applied to a 1:1 scale virtual CAD model developed with the purpose of testing the control strategy elaborated from the computational simulations of the entire system. Seven simulations were performed for different conditions of desired trajectories. In Case I, an idealized system was first run where the regime error tended to zero for an underdamped behavior. The calculated gains in Case I idealized were then applied in Case I with the virtual model where it was verified that the calculated gains were not enough to guarantee the desired trajectory of the robot. With gains increased by one hundred times, it was found that the regime error was 0.22 mm, and the value was considered acceptable. In the subsequent simulations, the regime error in Cases II and III were also 0.22 mm and in Cases IV, V, VI and VII the maximum error of trajectory did not exceed the stipulated 0.22 mm.
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Valente, Vitor Tumelero. „Análise, simulação e controle de um sistema de compensação de movimento utilizando um manipulador plataforma de stewart acionado por atuadores hidráulicos“. reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2016. http://hdl.handle.net/10183/141138.

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O mecanismo Plataforma de Stewart é um manipulador do tipo paralelo, com seis graus de liberdade, boa relação peso/carga e alta rigidez. Tais características conferem a este tipo de manipulador propriedades superiores de precisão em relação aos manipuladores seriais. Neste trabalho, o controle de um Manipulador Plataforma de Stewart (MPS) acionado por atuadores hidráulicos é estudado com o objetivo de compensação de movimentos para viabilização de transferência de cargas e pessoas em ambiente naval.Visando ao desenvolvimento de um protótipo experimental, o manipulador é estudado considerando a situação em que se encontra sobreposto a um segundo MPS que tem por objetivo simular o movimento da maré, sendo ambos MPS considerados desacoplados dinamicamente. Neste contexto, o estudo envolve a análise cinemática e dinâmica do manipulador incluindo, também, a dinâmica dos cilindros hidráulicos. Além disso, são estudadas unidades de medição inercial (IMU) utilizando-as como instrumento para medição do movimento da base a ser compensado. O projeto do controlador do sistema de atenuação de movimento faz uso da técnica de Torque Computado (TC). A análise de estabilidade, feita separadamente para o sistema mecânico e hidráulico, baseou-se da teoria de Lyapunov. Simulações realizadas considerando trajetórias similares às do movimento de um navio são utilizadas. Para compensação do movimento são utilizados, também, sinais provenientes de uma IMU. Por meio de simulação, comprova-se que o sistema proposto é capaz de compensar adequadamente os movimentos da base estudados.
The Stewart platform mechanism is a parallel manipulator with six degrees of freedom, high load/weight ratio and high stifness. These properties give them a better accuracy when compared to serial manipulators. This work focuses on study of electrohydraucally Stewart Platform Manipulators (MPS) to enable compensation of vessels motions for load and personell transfer in sea. Aimed at developing an experimental prototype, a second MPS is placed underneath the rst MPS to simulate vessels motions and so both manipulators are considered dynamically decoupled. In this sense, the kinematics and dynamics of this manipulator are presented, as well as a mathematical model of the hydraulic actuator. Furthermore, special attention is given to the study of inertial measurement units (IMU) which is used as an instrument for measuring the motion to be compensated. Controller design for the compensation system is developed considering compute torque theory which consider the system separated in two: mechanical and hydraulic. The Lyapunov criteria is used to guarantee closed loop stability for each subsystem. Simulations are performed considering similar vessel motions. Signals provided from a comercial IMU are used for motion compensation. The control compensation performance is veri ed by means of computer simulations.
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Kocak, Elif. „Control Law Partitioning Applied To Beam And Ball System“. Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/12609564/index.pdf.

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In this thesis different control methods are applied to the beam and ball system. Test setup for the previous thesis is handled, circuit assemblies and hardware redesigned. As the system is controlled by the control law partitioning method by a computer, discrete time system model is created. The controllability and the observability of the system are analyzed and a nonlinear controller by using control law partitioning in other words computed torque is designed. State feedback control algorithm previously designed is repeated. In case of calculating the non measurable state variables two different reduced order observers are designed for these two different controllers, one for control law partitioning controller and the other for state-feedback controller. Two controller methods designed for the thesis study are tested in the computer environment using modeling and simulation tools (Also a different controller by using sliding mode controller is designed and tested in the computer environment using simulation tools). A controller software program is written for the designed controller algorithms and this software is tested on the test setup. It is observed that the system is stable when we apply either of the control algorithms.
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Bücher zum Thema "Computed Torque Control"

1

Sankaran, Jayavel. Real-time computed torque control of flexible-joint robots. Ottawa: National Library of Canada = Bibliothèque nationale du Canada, 1999.

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Polites, Michael E. A control design for the attitude control and determination system for the Magnetosphere Imager spacecraft. MSFC, Ala: National Aeronautics and Space Administration, Marshall Space Flight Center, 1995.

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3

Shchuka, Andrew Joseph. Tip control of a flexible manipulator using the computed torque technique. 1987.

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Buchteile zum Thema "Computed Torque Control"

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Caccavale, Fabrizio. „Computed-Torque Control“. In Encyclopedia of Robotics, 1–5. Berlin, Heidelberg: Springer Berlin Heidelberg, 2020. http://dx.doi.org/10.1007/978-3-642-41610-1_91-1.

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2

Teshnehlab, Mohammad, und Keigo Watanabe. „Self-Tuning Computed Torque Control: Part I“. In Intelligent Control Based on Flexible Neural Networks, 107–36. Dordrecht: Springer Netherlands, 1999. http://dx.doi.org/10.1007/978-94-015-9187-4_5.

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Teshnehlab, Mohammad, und Keigo Watanabe. „Self-Tuning Computed Torque Control: Part II“. In Intelligent Control Based on Flexible Neural Networks, 137–70. Dordrecht: Springer Netherlands, 1999. http://dx.doi.org/10.1007/978-94-015-9187-4_6.

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4

Kumar, Manish, Ashish Gupta und Neelu Nagpal. „Tracking Control of Robot Using Intelligent-Computed Torque Control“. In Advances in Intelligent Systems and Computing, 619–28. Singapore: Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-13-1822-1_58.

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An, C. H., C. G. Atkeson, J. D. Griffiths und J. M. Hollerbach. „Experimental Evaluation of Feedforward and Computed Torque Control“. In RoManSy 6, 488–95. Boston, MA: Springer US, 1987. http://dx.doi.org/10.1007/978-1-4684-6915-8_50.

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Jribi, Racem, Boutheina Maalej und Nabil Derbel. „Exoskeletons Control via Computed Torque for Lower Limb Rehabilitation“. In New Trends in Robot Control, 131–51. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-1819-5_7.

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Djelal, Nacereddine, Isma Boudouane, Nadia Saadia und Amar Ramdane-Cherif. „Robot Control by Computed Torque Based on Support Vector Regression“. In Lecture Notes in Computer Science, 443–50. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-41009-8_48.

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Koessler, A., N. Bouton, S. Briot, B. C. Bouzgarrou und Y. Mezouar. „Linear Adaptive Computed Torque Control for Singularity Crossing of Parallel Robots“. In ROMANSY 22 – Robot Design, Dynamics and Control, 222–29. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-78963-7_29.

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Zelei, Ambrus, und Gábor Stépán. „The ACROBOTER Platform - Part 2: Servo-Constraints in Computed Torque Control“. In IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, 11–18. Dordrecht: Springer Netherlands, 2011. http://dx.doi.org/10.1007/978-94-007-1643-8_2.

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10

Yan, Yao, Le Liang, Yanyan Chen, Yue Wang und Yanjie Liu. „A Method of Computed-Torque Deviation Coupling Control Based on Friction Compensation Analysis“. In Intelligent Robotics and Applications, 800–811. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-65292-4_69.

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Konferenzberichte zum Thema "Computed Torque Control"

1

Nguyen-Tuong, Duy, Matthias Seeger und Jan Peters. „Computed torque control with nonparametric regression models“. In 2008 American Control Conference (ACC '08). IEEE, 2008. http://dx.doi.org/10.1109/acc.2008.4586493.

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Mathew, Shyju Susan, und V. R. Jisha. „Tracking Control of a Mobile Manipulator with External Torque Disturbances Using Computed Torque Control“. In 2020 IEEE 17th India Council International Conference (INDICON). IEEE, 2020. http://dx.doi.org/10.1109/indicon49873.2020.9342099.

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Kardos, Jan. „Robust Computed Torque Method of Robot Tracking Control“. In 2019 22nd International Conference on Process Control (PC19). IEEE, 2019. http://dx.doi.org/10.1109/pc.2019.8815088.

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Vazquez, J. A., und M. Velasco-Villa. „Computed-Torque Control of an Omnidirectional Mobile Robot“. In 2007 4th International Conference on Electrical and Electronics Engineering. IEEE, 2007. http://dx.doi.org/10.1109/iceee.2007.4345021.

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Middletone, R., und G. Goodwin. „Adaptive computed torque control for rigid link manipulators“. In 1986 25th IEEE Conference on Decision and Control. IEEE, 1986. http://dx.doi.org/10.1109/cdc.1986.267156.

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6

Paccot, Flavien, Nicolas Andreff, Philippe Martinet und Wisama Khalil. „Vision-based Computed Torque Control for Parallel Robots“. In IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics. IEEE, 2006. http://dx.doi.org/10.1109/iecon.2006.347537.

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7

Zelei, Ambrus, La´szlo´ L. Kova´cs und Ga´bor Ste´pa´n. „Computed Torque Control Method for Under-Actuated Manipulator“. In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86409.

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The paper presents the dynamic analysis of a crane-like manipulator system equipped with complementary cables and ducted fan actuators. The investigated under-actuated mechanical system is described by a system of differential-algebraic equations. The position/orientation control problem is investigated with respect to the trajectory generation and the fine positioning of the payload. The closed form results include the desired actuator forces as well as the nominal load angle corresponding to the desired motion of the payload. Considering a PD controller, numerical simulation results and also experiments demonstrate the applicability of the concept of using complementary actuators for controlling the swinging motion of the payload.
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Ficici, Seniz, Edwin M. Sawan und Behnam Bahr. „Fuzzy compensated computed torque control of a manipulator“. In Photonics East '96, herausgegeben von Bartholomew O. Nnaji. SPIE, 1996. http://dx.doi.org/10.1117/12.262501.

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Yaz, E., S. Fadali und M. Zohdy. „Deterministic and Stochastic Robustness of the Computed Torque Scheme“. In 1990 American Control Conference. IEEE, 1990. http://dx.doi.org/10.23919/acc.1990.4790829.

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Fadali, M. S., M. Zohdy und B. Adamczyk. „Robust Pole Assignment for Computed Torque Robotic Manipulators Control“. In 1989 American Control Conference. IEEE, 1989. http://dx.doi.org/10.23919/acc.1989.4790163.

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