Task space trajectory control of flexible micro–macro robot in the presence of parametric uncertainty

In this paper, the trajectory control of an AESA RIb-6 manipulator is addressed. In order to solve the problem of singular inverse kinematics, the normal form approach is employed for computing the joint trajectories from the desired trajectory in the task space. The basic idea of the normal form approach is introduced, and the detailed algorithm is presented and verified. Based on the inverse kinematics results, a group of proportional-integral-derivative (PID) controllers are developed to control the manipulator trajectory. Simulation results are presented which show that the PID controllers are unable to track the desired trajectory if measurement noise exists. In order to overcome the noise problem, an LQG (Linear Quadratic Gaussian) controller is designed for the trajectory control of the manipulator. The simulation results show that the LQG controller exhibits excellent tracking performance and robustness in the presence of measurement noise.

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Wrench Guided Task Space Trajectory Control of Parallel Manipulators

Lecture Notes in Mechanical Engineering - Machines, Mechanism and Robotics ◽

10.1007/978-981-10-8597-0_24 ◽

2018 ◽

pp. 279-289

Author(s):

Anirudh Krishnan Komaralingam ◽

T A Dwarakanath ◽

Gaurav Bhutani

Keyword(s):

Parallel Manipulators ◽

Trajectory Control ◽

Task Space

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ROBUST ADAPTIVE TRAJECTORY CONTROL FOR AN OMNIDIRECTIONAL VEHICLE WITH PARAMETRIC UNCERTAINTY

Transactions of the Canadian Society for Mechanical Engineering ◽

10.1139/tcsme-2013-0030 ◽

2013 ◽

Vol 37 (3) ◽

pp. 405-413 ◽

Cited By ~ 2

Author(s):

Ya-Chao Yang ◽

Chi-Cheng Cheng

Keyword(s):

Sliding Mode ◽

Parametric Uncertainty ◽

Adaptive Controller ◽

Trajectory Control ◽

Robust Adaptive Control ◽

Tracking Performance ◽

Damping Matrix ◽

The Matrix ◽

Asymptotic Tracking ◽

Robust Adaptive

In this paper, a robust adaptive control strategy is proposed for trajectory control of an omnidirectional vehicle with three omni-wheels, which have the ability to move simultaneously with independently rotational motion. The omnidirectional vehicle experiences uncertainties and unknown system parameters. The robust adaptive controller is designed based on the symmetric property of the damping matrix, which allows the matrix can be split into two parts. By the Lyapunov stability, the asymptotic tracking performance can be assured. The proposed control scheme is demonstrated by actual tracking experiments using the omnidirectional vehicle system. Experimental results showed promising tracking performance for the proposed method as compared to traditional sliding mode controller.

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Hierarchical switching in a multi-dimensional task space is not induced by specific task cues

Zeitschrift für Psychologie / Journal of Psychology ◽

10.1026//0044-3409.209.2.105 ◽

2001 ◽

Vol 209 (2) ◽

pp. 105-117 ◽

Cited By ~ 6

Author(s):

Thomas Kleinsorge ◽

Herbert Heuer ◽

Volker Schmidtke

Keyword(s):

Specific Task ◽

Task Space ◽

Basic Pattern ◽

Task Representation ◽

Switching Mechanism ◽

Factorial Combination ◽

Individual Task ◽

The Individual ◽

The Way

Summary. When participants have to shift between four tasks that result from a factorial combination of the task dimensions judgment (numerical vs. spatial) and mapping (compatible vs. incompatible), a characteristic profile of shift costs can be observed that is suggestive of a hierarchical switching mechanism that operates upon a dimensionally ordered task representation, with judgment on the top and the response on the bottom of the task hierarchy ( Kleinsorge & Heuer, 1999 ). This switching mechanism results in unintentional shifts on lower levels of the task hierarchy whenever a shift on a higher level has to be performed, leading to non-shift costs on the lower levels. We investigated whether this profile depends on the way in which the individual task dimensions are cued. When the cues for the task dimensions were exchanged, the basic pattern of shift costs was replicated with only minor modifications. This indicates that the postulated hierarchical switching mechanism operates independently of the specifics of task cueing.

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