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pro vyhledávání: '"T.C. Hsia"'
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Publikováno v:
Journal of the Franklin Institute. 344:349-361
Manipulating flexible objects stirs a great deal of interest due to the potential applications in industry. Most previous research work with multiple manipulators, however, focused on developing control strategies for the manipulation of rigid bodies
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::b924333948fa5da9769cdd1fa4b20669
https://doi.org/10.1016/j.jfranklin.2006.01.002
https://doi.org/10.1016/j.jfranklin.2006.01.002
Publikováno v:
IEEE Transactions on Neural Networks. 18:1042-1048
In this paper, experimental studies of a decentralized neural network control scheme of the reference compensation technique applied to control a 2-degrees-of-freedom (2-DOF) inverted pendulum on an x - y plane are presented. Each axis is controlled
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::3d6dc060b6af6b6a6e5a50d4da748cb8
https://doi.org/10.1109/tnn.2007.899128
https://doi.org/10.1109/tnn.2007.899128
Publikováno v:
IEEE Transactions on Control Systems Technology. 12:474-483
In this paper, a new simple stable force tracking impedance control scheme that has the capability to track a specified desired force and to compensate for uncertainties in environment location and stiffness as well as in robot dynamic model is propo
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::8a1be82c5f4074919c6af2174bd45754
https://doi.org/10.1109/tcst.2004.824320
https://doi.org/10.1109/tcst.2004.824320
Publikováno v:
The International Journal of Robotics Research. 20:765-774
In impedance control for force tracking, it is well known that the reference trajectory of the robot is calculated from known environmental stiffness. The authors present a simple technique for determining the reference trajectory under the condition
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::668678b934b990297cfaf8510fc21011
https://doi.org/10.1177/02783640122067651
https://doi.org/10.1177/02783640122067651
Publikováno v:
Robotica. 18:305-314
In this paper neural network (NN) control techniques for non-model based PD controlled robot manipulators are proposed. The main difference between the proposed technique and the existing feedback error learning (FEL) technique is that compensation o
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::ca044defcea7499947c8120ac17234d0
https://doi.org/10.1017/s0263574799002064
https://doi.org/10.1017/s0263574799002064
Publikováno v:
IEEE Transactions on Industrial Electronics. 47:403-412
The original impedance function is known to lack robustness due to unknown robot dynamic model and the environment. In order to improve that result, a new impedance function is derived which specifies a desired force directly. This results in a new r
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::2443a4088c9fd5a10d316282d06b687b
https://doi.org/10.1109/41.836356
https://doi.org/10.1109/41.836356
Publikováno v:
IEEE Transactions on Industrial Electronics. 45:451-461
The performance of an impedance controller for robot force tracking is affected by the uncertainties in both the robot dynamic model and environment stiffness. The purpose of this paper is to improve the controller robustness by applying the neural n
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e6bfa139189c35a1bcdc02ec09645d70
https://doi.org/10.1109/41.679003
https://doi.org/10.1109/41.679003
Publikováno v:
Robotica. 15:305-312
It is well known that computed torque robot control is subjected to performance degradation due to uncertainties in robot model, and application of neural network (NN) compensation techniques are promising. In this paper we examine the effectiveness
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::de268fccd907b2aa1b04f9b898ec9fad
https://doi.org/10.1017/s0263574797000349
https://doi.org/10.1017/s0263574797000349
Autor:
R.G. Bonitz, T.C. Hsia
Publikováno v:
IEEE Robotics & Automation Magazine. 4:18-22
A simple, but effective, method of calibrating a multimanipulator robotic system is introduced. The algorithm uses precisely machined calibration plates which are inexpensive to manufacture and require no measuring instrumentation. The method is test
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c66a850d4966e2ff66277d39b06c4c47
https://doi.org/10.1109/100.580975
https://doi.org/10.1109/100.580975