Titlebook: Robust Control of Robots; Fault Tolerant Appro Adriano A. G. Siqueira,Marco H. Terra,Marcel Berge Book 2011 Springer-Verlag London Limited

担忧

Underactuated Cooperative Manipulatorsecause, here, one must control not only the position of the common load being manipulated by the various robots, but also the internal forces in the object to ensure it will not be damaged during the operation. Therefore, we use a hybrid motion and squeeze force controller. The strategy decouples th

apropos

heterodox

Robust Control of Cooperative Manipulatorsvarying (quasi-LPV) representation of the nonlinear system with solutions based on game theory. These controllers take into account a fundamental characteristic of cooperative manipulator control, namely, that squeeze force control is designed independently of position control. In these cases, only

Excise

A Fault Tolerance Framework for Cooperative Robotic Manipulators the measurement of one or more joint velocities is incorrect. After the faults are detected by the FDI system, the control system is reconfigured according to the nature of the isolated fault and the manipulation task is resumed.

maudtin

热心助人

modest

Underactuated Robot Manipulatorsore joints than actuators. We begin by presenting a taxonomy to classify the different types of underactuation. Next, we present both model-based and non-model-based controller design approaches that guarantee robustness while the manipulator follows a desired trajectory.

高兴一回

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增长

https://doi.org/10.1007/978-0-85729-898-0Cooperative Manipulator; Fault Tolerant Control; Markov Process; Markovian Control; Nonlinear H∞ Control

maintenance

978-1-4471-5792-2Springer-Verlag London Limited 2011