By Dan Zhang, Bin Wei
The robot mechanism and its controller make a whole method. because the robot mechanism is reconfigured, the keep watch over method should be tailored as a result. the necessity for the reconfiguration frequently arises from the altering practical specifications. This e-book will concentrate on the adaptive keep an eye on of robot manipulators to handle the replaced stipulations. the purpose of the publication is to summarise and introduce the state of the art applied sciences within the box of adaptive keep watch over of robot manipulators so as to increase the methodologies at the adaptive regulate of robot manipulators. Advances made long ago many years are defined within the e-book, together with adaptive keep watch over theories and layout, and alertness of adaptive keep watch over to robot manipulators.
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Instead machine learning should play a complementary role to analytical approaches. This is an idea that has appeared in some of the literature in MRAC for manipulators where adaptation was only introduced on the unknown portion of the dynamics of the system (Maliotis 1991, Craig et al. 1987). We nevertheless see a bright future for the formulation and application of machine learning methods in control engineering. REFERENCES Ahn, H. , Y. Q. Chen and K. L. Moore. 2007. Iterative learning control: Brief survey and categorization.
S. Dubowsky (Dubowsky and Desforges 1979) is the first one that applies the model reference adaptive control in the robotic manipulator. The approach follows the method in (Donalson and Leondes 1963). A linear, second-order, time-invariant differential equation was used as the reference model for each degree of freedom of the manipulator arm. The manipulator was controlled by adjusting the position and velocity feedback gains to follow the model. A steepest-descent method was Discussion on Model Reference Adaptive Control of Robotic Manipulators 35 used for updating the feedback gains.
And M. Tomizuka. 1989. Model reference adaptive control and repetitive control for robot manipulators. Robotics and Automation, 1989. Proceedings, 1989 IEEE International Conference on, 3: 1650–1655. Tung, P. , S. -R. Wang and F. -Y. Hong. 2000. Application of MRAC theory for adaptive control of a constrained robot manipulator. International Journal of Machine Tools and Manufacture, 40(14): 2083–2097. Uchiyama, M. 1978. Formation of High-Speed Motion Pattern of a Mechanical Arm by Trial (Japanese Title: 試行による人工の手の高速運動パターンの形成).
Adaptive control for robotic manipulators by Dan Zhang, Bin Wei