Abstract— This paper deals with nonlinear dual mode adaptive control of a redundant manipulator for a pick-andplace scenario with high acceleration (20G). For performance compari...
Guilherme Sartori Natal, Ahmed Chemori, Fran&ccedi...
— In this paper, the concept of the ’robust arm configuration’ (RAC) is expanded using a mode shape compensator. This compensator improves the robustness of the arm configu...
—This paper develops a decentralized adaptive fuzzy control scheme for robot manipulators via a combination of genetic algorithm and gradient method. The controller for each link...
In this paper, a neural network controller for constrained robot manipulators is presented. A feedforward neural network is used to adaptively compensate for the uncertainties in ...
— Control saturation is an important limitation in practical control systems and it is well known that performance degradation or instability may result if this limitation is not...