Zobrazeno 1 - 10
of 66
pro vyhledávání: '"Jean Bosco Mbede"'
Publikováno v:
Journal of Robotics, Vol 2014 (2014)
This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynami
Externí odkaz:
https://doaj.org/article/55cdcbaca555475dae4ea52451c27c52
Publikováno v:
Robotica. 36:767-786
SUMMARYThe problem of robust adaptive control of a robotic manipulator subjected to uncertain dynamics and joint space constraints is addressed in this paper. Command filters are used to overcome the time derivatives of virtual control, thus reducing
Publikováno v:
Robotica. 36:516-534
SUMMARYThis study derives a robust adaptive control of electrically driven robot manipulators using a support vector regression (SVR)-based command filtered adaptive backstepping approach. The robot system is supposed to be subject to model uncertain
Publikováno v:
IFAC-PapersOnLine. 50:4863-4868
Continuum manipulators represent a class of robots reproducing some bio-inspired behaviors such as elephant trunks, octopus, or tentacles. Their performances in terms of speed limitation and position accuracy are often mediocre compared to rigid body
Autor:
Othman Lakhal, Achille Melingui, Jean Bosco Mbede, Joseph Jean-Baptiste Mvogo Ahanda, Bernard Essimbi Zobo, Rochdi Merzouki
Publikováno v:
IFAC-PapersOnLine. 50:8208-8213
This study derives a robust adaptive control for electrically driven robot manipulators using support vector regression (SVR) based command filtered adaptive backstepping approach. The robot system is supposed to be subject to model uncertainties, ne
Autor:
Othman Lakhal, Rochdi Merzouki, Achille Melingui, Joseph Jean-Baptiste Mvogo Ahanda, Jean Bosco Mbede
Publikováno v:
IEEE Transactions on Systems, Man, and Cybernetics: Systems
IEEE Transactions on Systems, Man, and Cybernetics: Systems, IEEE, 2018, 48 (9), pp.1531-1541. ⟨10.1109/TSMC.2017.2678605⟩
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2018, 48 (9), pp.1531-1541. ⟨10.1109/TSMC.2017.2678605⟩
IEEE Transactions on Systems, Man, and Cybernetics: Systems, IEEE, 2018, 48 (9), pp.1531-1541. ⟨10.1109/TSMC.2017.2678605⟩
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2018, 48 (9), pp.1531-1541. ⟨10.1109/TSMC.2017.2678605⟩
This paper addresses the position control of continuum manipulators. Their performances in terms of speed limitation and position accuracy are often mediocre compared with rigid body based robots. In regards to continuum manipulators control, nonadap
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::49e106f68ff36e58721d8753bf6a08df
https://hal.archives-ouvertes.fr/hal-01731172
https://hal.archives-ouvertes.fr/hal-01731172
Publikováno v:
Scopus-Elsevier
IFAC Proceedings Volumes
IFAC Proceedings Volumes, Elsevier, 2014, 47 (3), pp.9353-9358. ⟨10.3182/20140824-6-ZA-1003.01758⟩
IFAC Proceedings Volumes
IFAC Proceedings Volumes, Elsevier, 2014, 47 (3), pp.9353-9358. ⟨10.3182/20140824-6-ZA-1003.01758⟩
This paper addresses the forward kinematic model of a class of hyper-redundant continuum robot, namely Compact Bionic Handling Assistant (CBHA). Inspired from the elephant trunk, it can reproduce some biological behaviors of trunks, tentacles, or sna
Publikováno v:
Electronics Letters
Electronics Letters, IET, 2014, 50 (14), pp.979-981. ⟨10.1049/el.2014.1136⟩
Electronics Letters, IET, 2014, 50 (14), pp.979-981. ⟨10.1049/el.2014.1136⟩
The tip position control of a class of continuum manipulators namely the compact bionic handling arm (CBHA) is proposed. The control scheme includes two sub-controllers. The first sub-controller, based on the distal supervised learning scheme, deals
Publikováno v:
IEEE/ASME Transactions on Mechatronics
IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2015, 20 (6), pp.2862-2875. ⟨10.1109/TMECH.2015.2396114⟩
IEEE Transactions on Mechatronics
IEEE Transactions on Mechatronics, 2015, 20 (6), pp.2862-2875
IEEE/ASME Transactions on Mechatronics, 2015, 20 (6), pp.2862-2875. ⟨10.1109/TMECH.2015.2396114⟩
IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2015, 20 (6), pp.2862-2875
IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2015, 20 (6), pp.2862-2875. ⟨10.1109/TMECH.2015.2396114⟩
IEEE Transactions on Mechatronics
IEEE Transactions on Mechatronics, 2015, 20 (6), pp.2862-2875
IEEE/ASME Transactions on Mechatronics, 2015, 20 (6), pp.2862-2875. ⟨10.1109/TMECH.2015.2396114⟩
IEEE/ASME Transactions on Mechatronics, Institute of Electrical and Electronics Engineers, 2015, 20 (6), pp.2862-2875
In this paper, autonomous control problem of a class of bionic continuum robots named “Compact Bionic Handling Arm” (CBHA) is addressed. These robots can reproduce biological behaviors of trunks, tentacles, or snakes. The modeling problem associa
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1d35e96f673b60cc6d97866fb093c60e
https://hal.archives-ouvertes.fr/hal-01694231
https://hal.archives-ouvertes.fr/hal-01694231
Autor:
Volker Graefe, Youssoufi Touré, Pierre Ele, Shugen Ma, Chantal-Marguerite Mveh-Abia, Jean Bosco Mbede
Publikováno v:
Information Sciences. 171:447-474
The work presented in this paper deals with the problem of autonomous and intelligent navigation of mobile manipulator, where the unavailability of a complete mathematical model of robot systems and uncertainties of sensor data make the used of appro