1st Edition

Adaptive Control for Robotic Manipulators




ISBN 9781498764872
Published November 10, 2016 by CRC Press
440 Pages 189 B/W Illustrations

USD $175.00

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Book Description

The robotic mechanism and its controller make a complete system. As the robotic mechanism is reconfigured, the control system has to be adapted accordingly. The need for the reconfiguration usually arises from the changing functional requirements. This book will focus on the adaptive control of robotic manipulators to address the changed conditions. The aim of the book is to summarise and introduce the state-of-the-art technologies in the field of adaptive control of robotic manipulators in order to improve the methodologies on the adaptive control of robotic manipulators. Advances made in the past decades are described in the book, including adaptive control theories and design, and application of adaptive control to robotic manipulators.

Table of Contents

From MRAC to Learning-Based MPC: The Emerging Importance of Machine Learning for Control of Robot Manipulators
K. Soltani Naveh and P. R. McAree

Discussion on Model Reference Adaptive Control of Robotic Manipulators
Dan Zhang and Bin Wei

Data-Based Learning for Uncertain Robotic Systems
Anup Parikh, Rushikesh Kamalapurkar and Warren E. Dixon

Reinforcement Learning of Robotic Manipulators
Kei Senda and Yurika Tani

Adaptive Control for Multi-Fingered Robot Hands
Satoshi Ueki and Haruhisa Kawasaki

Output Feedback Adaptive Control of Uncertain Dynamical Systems with Event-Triggering
Ali Albattat, Benjamin Gruenwald and Tansel Yucelen

Event Sampled Adaptive Control of Robot Manipulators and Mobile Robot Formations
N. Vignesh, H. M. Guzey and S. Jagannathan

Design, Integration and Analysis of a Hybrid Controller for Multi Degrees of Freedom Serial Mechanisms
Dan Zhang and Bin Wei

Adaptive Control of Modular Ankle Exoskeletons in Neurologically Disabled Populations
Anindo Roy, Larry W. Forrester and Richard F. Macko

Open Architecture High Value Added Robot Manufacturing Cells
Delbert Tesar

The Adaptive Control Algorithm for Manipulators with Joint Flexibility
Krzysztof Kozłowski and Piotr Sauer

Unifi cation of Bipedal Robotic Walking using Quadratic Program-based Control Lyapunov Function: Applications to Regulation of ZMP and Angular Momentum
Pilwon Hur, Kenneth Chao and Victor Christian Paredes Cauna

Robust Adaptive Nonlinear Control for Robotic Manipulators with Flexible Joints
P. Krishnamurthy, F. Khorrami and Z. Wang

Adaptive Switching Iterative Learning Control of Robot Manipulator
P. R. Ouyang and W. J. Zhang

Adaptive Robust Control Design for Robot Manipulators Based on Online Estimation of the Lumped Time-Varying Model Uncertainties
Meysar Zeinali and Ebrahim Esmailzadeh

Evaluation of Microgenetic and Microimmune Algorithms for Solving Inverse Kinematics of Hyper-redundant Robotic Manipulators On-line
D. Dužanec, S. Glumac, Z. Kovačić and M. Pavčević

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