Description: Parallel robotic manipulators can be considered a well-established option
for many different applications of manipulation, machining, guiding,
testing, control, tracking, haptic force feed-back, etc. A typical parallel robotic
manipulator (PM) consists of a mobile platform connected to the
base (fixed platform) by at least two kinematic chains called limbs. The
mobile platform can achieve between one and three independent translations
(T) and one to three independent rotations (R). Platform: |
Size: 10582016 |
Author:chen |
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Description: In this work, Artificial Neural Networks are employed in a Fault Detection and Isolation scheme for robotic manipulators. Two networks are utilized: a Multilayer Perceptron is employed to reproduce the manipulator dynamical behavior, generating a residual vector that is classified by a Radial Basis Function Network, giving the fault isolation. Two methods are utilized to choose
the radial unit centers in this network. The first method,
Forward Selection, employs Subset Selection to choose
the radial units from the training patterns. The second employs the Kohonen’s Self-Organizing Map to fix the radial unit centers in more interesting positions.
Simulations employing a two link manipulator and the Puma 560 manipulator indicate that the second method gives a smaller generalization error. Platform: |
Size: 149504 |
Author:fad |
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Description: Two-Link Circle Tracking Manipulator
Define Your inputs and let this script track your circle Platform: |
Size: 1024 |
Author:ahmed |
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Description: This paper presents two kinds of adaptive control schemes for robot manipulator which has the parametric uncertainties. In order to compensate these uncertainties, we use the FLS (fuzzy logic system) that has the capability to approximate any nonlinear function over the compact input space. In the proposed control schemes, we need not derive the linear formulation of robot dynamic equation and tune the parameters. We also suggest the robust adaptive control laws in all proposed schemes for decreasing the effect of approximation error. To reduce the number of fuzzy rules of the FLS, we consider the properties of robot dynamics and the decomposition of the uncertainty function. The proposed controllers are robust not only to the structured uncertainty such as payload parameter, but also to the unstructured one such as friction model and disturbance. The validity of the control scheme is shown by computer simulations of a two-link planar robot manipulator. Platform: |
Size: 641024 |
Author:Diamant |
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Description: Abstract—Owing to load variation and unmodeled dynamics, a robot
manipulator can be classified as a nonlinear dynamic system with structured
and unstructured uncertainties. In this paper, the stability and
robustness of a class of the fuzzy logic control (FLC) is investigated and a
robust FLC is proposed for a robot manipulator with uncertainties. In order
to show the performance of the proposed control algorithm, computer
simulations are carried out on a simple two-link robot manipulator Platform: |
Size: 206848 |
Author:med |
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Description: Fault diagnosis plays an important role in the oper-
ation of modern robotic systems. A number of researchers have
proposed fault diagnosis architectures for robotic manipulators
using the model-based analytical redundancy approach. One of
the key issues in the design of such fault diagnosis schemes is
the effect of modeling uncertainties on their performance. This
paper investigates the problem of fault diagnosis in rigid-link
robotic manipulators with modeling uncertainties. A learning
architecture with sigmoidal neural networks is used to monitor
the robotic system for any off-nominal behavior due to faults. The
robustness and stability properties of the fault diagnosis scheme
are rigorously established. Simulation examples are presented
to illustrate the ability of the neural-network-based robust fault
diagnosis scheme to detect and accommodate faults in a two-link
robotic manipulator. Platform: |
Size: 306176 |
Author:JTNT |
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Description: 基于matlab的二连杆机械臂PD控制的仿真。。。(The simulation of two-link manipulator PD control based on matlab) Platform: |
Size: 19456 |
Author:IMPALA67 |
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Search - two-link manipulator