File:Adaptive control in positioning a rigid-flexible robot arm (IA adaptivecontroli00mard).pdf

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Adaptive control in positioning a rigid-flexible robot arm   (Wikidata search (Cirrus search) Wikidata query (SPARQL)  Create new Wikidata item based on this file)
Author
Mardas, Constantinos.
image of artwork listed in title parameter on this page
Title
Adaptive control in positioning a rigid-flexible robot arm
Publisher
Monterey, California: U.S. Naval Postgraduate School
Description
Thesis advisor(s): Thaler, George Julius
"March 1988."
Thesis (M.S. in E.E. and Electrical Engineer)--Naval Postgraduate School, March 1988
Includes bibliographical references: (p. 152-153)
The feasibility of controlling a rigid-flexible, two links planar robot arm with an adaptive computer simulation model is investigated. The velocity curve following method was used as the adaptive control scheme. The motors acting at each joint were driven by the adaptive model. The adaptive algorithm update the states and the gain parameter of the ideal motor used in the computer model. This adaptation procedure was accomplished using only the measured angular position of the arm. The mathematical model for the proposed manipulator was derived using the Lagrangian dynamics approach. Simulation results were obtained with the manipulator performing under various conditions, by changing the load of the arm and the forces included in the environment. Keywords: Adaptive control scheme, Flexible displacement, Assumed modes, Hypothetical rigid motion, Robotics, Theses
Hellenic Navy author

Subjects: Electrical and computer engineering
Language en_US
Publication date 1 March 1988, 00:00:00
Current location
IA Collections: navalpostgraduateschoollibrary; fedlink; americana
Accession number
adaptivecontroli00mard
Notes some content may be lost due to the binding of the book.
Authority file  OCLC: 1038782275
Source
Internet Archive identifier: adaptivecontroli00mard
https://archive.org/download/adaptivecontroli00mard/adaptivecontroli00mard.pdf

Licensing[edit]

Public domain
This work is in the public domain because it was published in the United States between 1978 and March 1, 1989 without a copyright notice, and its copyright was not subsequently registered with the U.S. Copyright Office within 5 years. Unless its author has been dead for several years, it is copyrighted in the countries or areas that do not apply the rule of the shorter term for US works, such as Canada (50 pma), Mainland China (50 pma, not Hong Kong or Macau), Germany (70 pma), Mexico (100 pma), Switzerland (70 pma), and other countries with individual treaties. See this page for further explanation.

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current01:38, 5 July 2020Thumbnail for version as of 01:38, 5 July 20201,204 × 1,579, 184 pages (7.39 MB)Fæ (talk | contribs)FEDLINK - United States Federal Collection adaptivecontroli00mard (User talk:Fæ/IA books#Fork8) (batch 1987-1989 #2004)

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