Matches in SemOpenAlex for { <https://semopenalex.org/work/W2085837623> ?p ?o ?g. }
Showing items 1 to 78 of
78
with 100 items per page.
- W2085837623 abstract "Direct drive robot technology has received considerable attention by the robotics research community given its potential for developing robots with superior positioning accuracy and repeatability characteristics. Direct drive robots do not have the compliance and backlash problems typically associated with geared robots. With the absence of gearing, however, the motors in direct drive robots must be able to produce considerably larger torques than the motors in a geared robot. As a result, the inductances of the motor windings are much larger, thereby making the electrical motor dynamics no longer negligible. In addition, many motors that are ideal for use in direct drive robots are highly non-linear and consequently their dynamics must be included in the overall control design if the benefits of direct drive technologies are to be fully realized. In this paper we design adaptive controllers for a class of direct drive robot manipulators whose actuators consist of Brushed Direct Current (BDC), and Brushless Direct Current (BLDC) and switched reluctance (SR) motors. In particular, the controllers presented handle the multilink dynamics of a rigid link robot and the multiple-input non-linear electrical dynamics of BLDC and SR motors. The result is a class of adaptive controllers that achieve global asymptotic convergence of the link position tracking error in spite of parametric uncertainty throughout the entire electromechanical robot model. In addition, the controllers only require measurements of link position, link velocity and electrical currents." @default.
- W2085837623 created "2016-06-24" @default.
- W2085837623 creator A5032754916 @default.
- W2085837623 creator A5043632566 @default.
- W2085837623 creator A5048978027 @default.
- W2085837623 date "1996-07-01" @default.
- W2085837623 modified "2023-09-24" @default.
- W2085837623 title "Adaptive control for a class of direct drive robot manipulators" @default.
- W2085837623 doi "https://doi.org/10.1002/(sici)1099-1115(199607)10:4/5<417::aid-acs372>3.0.co;2-g" @default.
- W2085837623 hasPublicationYear "1996" @default.
- W2085837623 type Work @default.
- W2085837623 sameAs 2085837623 @default.
- W2085837623 citedByCount "18" @default.
- W2085837623 countsByYear W20858376232014 @default.
- W2085837623 countsByYear W20858376232015 @default.
- W2085837623 crossrefType "journal-article" @default.
- W2085837623 hasAuthorship W2085837623A5032754916 @default.
- W2085837623 hasAuthorship W2085837623A5043632566 @default.
- W2085837623 hasAuthorship W2085837623A5048978027 @default.
- W2085837623 hasConcept C105795698 @default.
- W2085837623 hasConcept C107464732 @default.
- W2085837623 hasConcept C117251300 @default.
- W2085837623 hasConcept C121332964 @default.
- W2085837623 hasConcept C127413603 @default.
- W2085837623 hasConcept C133731056 @default.
- W2085837623 hasConcept C144171764 @default.
- W2085837623 hasConcept C154945302 @default.
- W2085837623 hasConcept C2775924081 @default.
- W2085837623 hasConcept C2776652708 @default.
- W2085837623 hasConcept C33923547 @default.
- W2085837623 hasConcept C34413123 @default.
- W2085837623 hasConcept C41008148 @default.
- W2085837623 hasConcept C47446073 @default.
- W2085837623 hasConcept C90509273 @default.
- W2085837623 hasConcept C97355855 @default.
- W2085837623 hasConceptScore W2085837623C105795698 @default.
- W2085837623 hasConceptScore W2085837623C107464732 @default.
- W2085837623 hasConceptScore W2085837623C117251300 @default.
- W2085837623 hasConceptScore W2085837623C121332964 @default.
- W2085837623 hasConceptScore W2085837623C127413603 @default.
- W2085837623 hasConceptScore W2085837623C133731056 @default.
- W2085837623 hasConceptScore W2085837623C144171764 @default.
- W2085837623 hasConceptScore W2085837623C154945302 @default.
- W2085837623 hasConceptScore W2085837623C2775924081 @default.
- W2085837623 hasConceptScore W2085837623C2776652708 @default.
- W2085837623 hasConceptScore W2085837623C33923547 @default.
- W2085837623 hasConceptScore W2085837623C34413123 @default.
- W2085837623 hasConceptScore W2085837623C41008148 @default.
- W2085837623 hasConceptScore W2085837623C47446073 @default.
- W2085837623 hasConceptScore W2085837623C90509273 @default.
- W2085837623 hasConceptScore W2085837623C97355855 @default.
- W2085837623 hasLocation W20858376231 @default.
- W2085837623 hasOpenAccess W2085837623 @default.
- W2085837623 hasPrimaryLocation W20858376231 @default.
- W2085837623 hasRelatedWork W1496777766 @default.
- W2085837623 hasRelatedWork W1764253359 @default.
- W2085837623 hasRelatedWork W1996364133 @default.
- W2085837623 hasRelatedWork W2015380370 @default.
- W2085837623 hasRelatedWork W2057550830 @default.
- W2085837623 hasRelatedWork W2059882626 @default.
- W2085837623 hasRelatedWork W2072684130 @default.
- W2085837623 hasRelatedWork W2097467365 @default.
- W2085837623 hasRelatedWork W2099276581 @default.
- W2085837623 hasRelatedWork W2106928270 @default.
- W2085837623 hasRelatedWork W2125789925 @default.
- W2085837623 hasRelatedWork W2126273279 @default.
- W2085837623 hasRelatedWork W2133965759 @default.
- W2085837623 hasRelatedWork W2134995516 @default.
- W2085837623 hasRelatedWork W2154136480 @default.
- W2085837623 hasRelatedWork W2168788635 @default.
- W2085837623 hasRelatedWork W2174290411 @default.
- W2085837623 hasRelatedWork W2538671349 @default.
- W2085837623 hasRelatedWork W2550520760 @default.
- W2085837623 hasRelatedWork W613067118 @default.
- W2085837623 isParatext "false" @default.
- W2085837623 isRetracted "false" @default.
- W2085837623 magId "2085837623" @default.
- W2085837623 workType "article" @default.