21 search results - page 3 / 5 » Gain adaptation in sliding mode control of robotic manipulat... |
IROS
2009
IEEE
14 years 2 months ago
2009
IEEE
Abstract— This paper deals with nonlinear dual mode adaptive control of a redundant manipulator for a pick-andplace scenario with high acceleration (20G). For performance compari...
ICRA
2003
IEEE
14 years 22 days ago
2003
IEEE
— In this paper, the concept of the ’robust arm configuration’ (RAC) is expanded using a mode shape compensator. This compensator improves the robustness of the arm configu...
TSMC
1998
13 years 7 months ago
1998
—This paper develops a decentralized adaptive fuzzy control scheme for robot manipulators via a combination of genetic algorithm and gradient method. The controller for each link...
ICRA
2000
IEEE
13 years 12 months ago
2000
IEEE
In this paper, a neural network controller for constrained robot manipulators is presented. A feedforward neural network is used to adaptively compensate for the uncertainties in ...
CDC
2009
IEEE
14 years 5 days ago
2009
IEEE
— Control saturation is an important limitation in practical control systems and it is well known that performance degradation or instability may result if this limitation is not...