1,720,997 research outputs found
A Fault Tolerant Adaptive Control for Robot Manipulators
No full textA Fault Tolerant adaptive control for a robotic
manipulator with fault affecting the joint actuators is presented.
First, in order to achieve a proper detection and isolation of the
fault, an observer based scheme for fault diagnosis is developed.
Then, an inverse dynamics robust controller is reconfigured in
such a way to include an adaptive term, depending on the
isolated fault. The model uncertainties are explicitly taken into
account and estimated via an off-line-trained Support Vector
Machine. Finally, simulation results are presented in order to
prove the effectiveness of the approach
La geologia dell'area.
No full textIl breve volume illustra le caratteristiche geologiche, geomorfologiche, le grotte, i problemi ambientali del territorio del Comune di Treppo Ligosullo, caratterizzato dalla presenza di gessi paleozoici
Il carsismo nei gessi.
No full textUna sintesi delle forme epigee e ipogee del carsismo nei gessi dell'area Treppo-Ligosull
An adaptive hierarchical control for aerial manipulators
Get PDFThis paper addresses the trajectory tracking control problem for a quadrotor aerial vehicle, equipped with a robotic manipulator (aerial manipulator). The controller is organized in two layers: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the upper layer. To the purpose, a model-based control scheme is adopted, where modelling uncertainties are compensated through an adaptive term. The stability of the proposed scheme is proven by resorting to Lyapunov arguments. Finally, a simulation case study is proposed to prove the effectiveness of the approach
Grasp force and object impedance control for arm/hand systems
No full textThis paper deals with fine contact force control in
robotic grasping. The main objective is to achieve tracking of
the planned trajectory for a grasped object and, at the same
time, ensure suitable grasp quality. Interaction of the grasped
object with the external environment is considered as well. To
this aim, an impedance control law is adopted to enforce a
compliant behavior of the object when comes in contact with the
environment. A simulation case study is developed to confirm
the effectiveness of the proposed control scheme
Cooperative impedance control for multiple UAVs with a robotic arm
No full textIn this paper, an impedance control scheme for cooperative quadrotors with robotic arms is proposed in order to limit both the contact forces, due to the object/environment interaction, and the internal forces, due to the manipulators/ object interaction. To this aim, two impedance filters are used to determine the reference trajectories for manipulator end effectors: the first is aimed at conferring a compliant behavior at the object level (external impedance), while the second filter, is aimed at avoiding large internal loading of the object (internal impedance). Such trajectories are fed to a motion controller including an inverse kinematics algorithm and a PD controller with gravity compensation. The effectiveness of the proposed approach is then verified in simulation
Control of Quadrotor Aerial Vehicles Equipped with a Robotic Arm
No full textIn this paper a novel hierarchical motion control scheme for quadrotor aerial vehicles equipped with a manipulator is proposed. The controller is organized into two layers:
in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables; in the bottom layer, a motion control algorithm is in charge of tracking the motion references computed by the top layer. A simulation case study is developed to demonstrate the effectiveness of the approach in the presence of disturbances and unmodeled dynamics
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