An intelligent force/position control of robot manipulator using time delay control

2002 ◽  
Author(s):  
P.H. Chang ◽  
D.S. Kim ◽  
J.W. Lee
Keyword(s):  
Time Delay ◽  
Position Control ◽  
Robot Manipulator ◽  
Time Delay Control ◽  
Delay Control

scholarly journals Feedback linearization based predictor for time delay control of a high-DOF robot manipulator

Automatica ◽  
2019 ◽  
Vol 108 ◽  
pp. 108485 ◽  
Author(s):  
Mostafa Bagheri ◽  
Peiman Naseradinmousavi ◽  
Miroslav Krstić
Keyword(s):  
Time Delay ◽  
Feedback Linearization ◽  
Robot Manipulator ◽  
Time Delay Control ◽  
Delay Control

scholarly journals Position Control of 6-DOF Direct-Drive Wrist Joint Using Time Delay Control.

1995 ◽  
Vol 61 (584) ◽  
pp. 1543-1549
Author(s):  
Kiyoshi Maeda ◽  
Isawo Yasaka ◽  
Satoshi Tadokoro ◽  
Toshi Takamori
Keyword(s):  
Time Delay ◽  
Position Control ◽  
Wrist Joint ◽  
Direct Drive ◽  
Time Delay Control ◽  
Delay Control

scholarly journals Switched time delay control based on neural network for fault detection and compensation in robot

2021 ◽  
Vol 10 (2) ◽  
pp. 91
Author(s):  
Maincer Dihya ◽  
Mansour Moufid ◽  
Boudjedir Chemseddine ◽  
Bounabi Moussaab
Keyword(s):  
Neural Network ◽  
Time Delay ◽  
Fault Detection ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Neural Network Learning ◽  
Mlp Neural Network ◽  
Time Delay Control ◽  
The Neural Network ◽  
Delay Control

Fault detection in robotic manipulators is necessary for their monitoring and represents an effective support to use them as independent systems. This present study investigates an enhanced method for representation of the faultless system behavior in a robot manipulator based on a multi-layer perceptron (MLP) neural network learning model which produces the same behavior as the real dynamic manipulator. The study was based on generation of residue by contrasting the actual output of the manipulator with those of the neural network; Then, a time delay control (TDC) is applied to compensate the fault, in which a typical sliding mode command is used to delete the time delay estimate produced by the belated signal in order to obtain strong performances. The results of the simulations performed on a model of the SCARA arm manipulator, showed a good trajectory tracking and fast convergence speed in the presence of faults on the sensors. In addition, the command is completely model independent, for both TDC and MLP neural network, which represents a major advantage of the proposed command.

A Reduced Order Time-Delay Control for Highly Simplified Brushless DC Motor

1999 ◽  
Vol 121 (3) ◽  
pp. 556-560 ◽  
Author(s):  
Pyung H. Chang ◽  
Suk-Ho Park ◽  
Jung-Hoon Lee
Keyword(s):  
Time Delay ◽  
Position Control ◽  
Dc Motor ◽  
Current Control ◽  
Design Stage ◽  
Brushless Dc Motor ◽  
Reduced Order ◽  
Time Delay Control ◽  
Brushless Dc ◽  
Delay Control

A reduced order time-delay control is derived and applied to the position control of a brushless DC motor with a highly simplified hardware configuration: use of six-step commutation without current control unit. In addition, the closed-loop stability has been analyzed by using the singular perturbation method. Throughout experimental studies, it is observed that reduced order time delay control effectively compensates for parameter variations and non-linearities, which a conventional PID control cannot handle with adequate performances. This result shows that reduced order time-delay control enables an economical design without compromising performance. More importantly, the example establishes a case that: a good control method can compensate for the hardware deficiency in a given plant, and as a result it even enables a simpler design of plants at the design stage.

Sign in / Sign up

Export Citation Format

Share Document