http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Nagarajan Sukavanam (검색결과 2 건)
- 무료
- 기관 내 무료
- 유료
-
Neural Network Based Hybrid Force/Position Control for Robot Manipulators
Naveen Kumar,Vikas Panwar,Nagarajan Sukavanam,Shri Prakash Sharma,범진환 한국정밀공학회 2011 International Journal of Precision Engineering and Vol. No.
This paper presents a neural network based adaptive control scheme for hybrid force/position control for rigid robot manipulators. Firstly the robot dynamics is decomposed into force, position and redundant joint subspaces. Based on this decomposition, a neural network based controller is proposed that achieves the stability in the sense of Lyapunov for desired interaction force between the end-effector and the environment as well as regulate robot tip position in cartesian space. A feedforward neural network is employed to learn the parametric uncertainties, existing in the dynamical model of the robot manipulator. Finally numerical simulation studies are carried out for a two link rigid robot manipulator.
-
Gaurav Bhardwaj,Balasubramanian Raman,Nagarajan Sukavanam 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.5
The fundamental aim of this paper is to riddle out the joint space trajectory tracking problem for a fully actuated 9-Link bipedal robot while climbing the staircase using a faster and accurate fast terminal discrete-time sliding mode control. Second objective is to provide a more realistic and practical approach for contact modeling ensuring a much stable staircase walk. For contact modeling, we have proposed a novel fuzzy based impedance modulation approach considering a virtual spring-damper model with variable stiffness and damping coefficients. To obtain a discrete-time model, Euler’s method for discretization is considered after obtaining Lagrange’s dynamics. A higher control accuracy of order Dt3 where Dt is constant time step, can be achieved with fast terminal discrete-time sliding mode control in comparison to conventional discrete-time sliding mode control with controller accuracy of order Dt2. Brief comparison has been shown between conventional discrete-time controller and our proposed controller with same initial conditions and in same disturbance environment to corroborate robustness of the controllers. Delayed Estimation method is used to estimate the unknown disturbances. All simulations have been performed in MATLAB and Simulink to manifest the efficacy of our proposed approach.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
