31, No. 6, 2016 PAYLOAD VARIATION COMPENSATION FOR ROBOTIC ARMS THROUGH MODEL ... Based on the model reference control approach, the payload variation ...
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Regarding robotic systems, the dynamic equations' coefficients contain joint and payload variables. These variables may be unknown or may even alter during the ...
Nov 4, 2016 · Based on the model reference adaptive control technique, the payload variation effect can be solved, therefore improving the positioning ...
Jan 7, 2022 · In order to achieve gravity feedforward compensation, a PD control method based on a robot model is designed [17]. To solve the problem of ...
Nov 4, 2016 · Payload Variation Effect and Model Reference Control. 2.1. Two ... model reference adaptive control and PID control for serial robotic arms.
This paper presents an application of Model Reference Adaptive Control (MRAC) to the position and force control of flexible manipulators and robots. In this ...
ity compensation method employed, refer to Section 4 for detailed information. 4 ELASTICITY COMPENSATION. As already stated, the utilization of belt transmis ...
Experiments on the robot demonstrate the effectiveness of the proposed DRL methods. The changed payloads range from 1.177Kg to 4.179 Kg, while the position ...
Dec 16, 2020 · This thesis will introduce and explain a way to model a 6-axis robot by using its dynamical properties as well as the development of a joint ...
The third report describes a new method to control single-link lumped-mass flexible arms in the case of having friction in the joint and changes in the ...