A New Adaptive Control of Robot Manipulators Considering Actuator Dynamics

A New Adaptive Control of Robot Manipulators Considering Actuator Dynamics

碩士 === 國立臺灣科技大學 === 機械工程系 === 105 === Traditional controllers for robot manipulators give poor performance in high speed operations due to ignorance of actuator dynamics. This thesis proposes a new adaptive controller for robot manipulators in high speed trajectory following considering of actuator...

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Main Authors: Chieh Huang, 黃傑
Other Authors: Eiji Mizutani
Format: Others
Language:zh-TW
Published: 2016
Online Access:http://ndltd.ncl.edu.tw/handle/5gfv57
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spelling ndltd-TW-105NTUS54890022019-10-07T03:38:48Z http://ndltd.ncl.edu.tw/handle/5gfv57 A New Adaptive Control of Robot Manipulators Considering Actuator Dynamics 考量驅動器動態的機械臂適應控制 Chieh Huang 黃傑 碩士 國立臺灣科技大學 機械工程系 105 Traditional controllers for robot manipulators give poor performance in high speed operations due to ignorance of actuator dynamics. This thesis proposes a new adaptive controller for robot manipulators in high speed trajectory following considering of actuator dynamics. The new structure not only estimate dynamics in the physical and electrical models of robot manipulators, but also keep the calculation requirement to a minimum to facilitate the real-time implementation. A 2-DOF rigid robot manipulator is used in the computer simulation to verify the efficacy of the proposed design. Eiji Mizutani An-Chyau Huang 水谷英二 黃安橋 2016 學位論文 ; thesis 42 zh-TW
collection NDLTD
language zh-TW
format Others
sources NDLTD
description 碩士 === 國立臺灣科技大學 === 機械工程系 === 105 === Traditional controllers for robot manipulators give poor performance in high speed operations due to ignorance of actuator dynamics. This thesis proposes a new adaptive controller for robot manipulators in high speed trajectory following considering of actuator dynamics. The new structure not only estimate dynamics in the physical and electrical models of robot manipulators, but also keep the calculation requirement to a minimum to facilitate the real-time implementation. A 2-DOF rigid robot manipulator is used in the computer simulation to verify the efficacy of the proposed design.
author2 Eiji Mizutani
author_facet Eiji Mizutani
Chieh Huang
黃傑
author Chieh Huang
黃傑
spellingShingle Chieh Huang
黃傑
A New Adaptive Control of Robot Manipulators Considering Actuator Dynamics
author_sort Chieh Huang
title A New Adaptive Control of Robot Manipulators Considering Actuator Dynamics
title_short A New Adaptive Control of Robot Manipulators Considering Actuator Dynamics
title_full A New Adaptive Control of Robot Manipulators Considering Actuator Dynamics
title_fullStr A New Adaptive Control of Robot Manipulators Considering Actuator Dynamics
title_full_unstemmed A New Adaptive Control of Robot Manipulators Considering Actuator Dynamics
title_sort new adaptive control of robot manipulators considering actuator dynamics
publishDate 2016
url http://ndltd.ncl.edu.tw/handle/5gfv57
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AT huángjié kǎoliàngqūdòngqìdòngtàidejīxièbìshìyīngkòngzhì
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AT huángjié newadaptivecontrolofrobotmanipulatorsconsideringactuatordynamics
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