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- W2488194908 abstract "In describing the dynamic equation of motion for a robot arm manipulator, the effects of the gear friction and backlash have previously been neglected. Several control algorithms utilizing the dynamic model which results from the aforementioned description have been proposed to control the industrial robot arm manipulator.Increased demands on robot manipulator application have imposed new emphasis on improving the precision of the robot arm control with regards to dynamic modeling errors and measurements uncertainties. It is to this end that this research is oriented.In this research, a stochastic dynamic model of the robot arm manipulator, which considers the dynamics and measurements errors, has been verified and implemented. Hereto, a new control algorithm will be presented. This algorithm is based on implementing the extended Kalman filter to estimate the states, in conjunction with an optimal/sub-optimal controller, which computes the feedbackward corrective compensation torques to account for the deviation of the actual states trajectory from the desired states trajectory. The feedforward component, which computes the nominal torques in real time is determined by the Newton-Euler equation of motion.A complete analysis verifying the use of the extended Kalman filter and the optimal/sub-optimal controller has been accomplished. The new proposed control algorithm has also been compared against the Kalman filter, the computed torque technique, and an adaptive control algorithm.Digital simulation of these comparison results on the DEC-10 support the contention that the implementation of this proposed control algorithm is in fact superior." @default.
- W2488194908 created "2016-08-23" @default.
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- W2488194908 date "1988-01-01" @default.
- W2488194908 modified "2023-09-26" @default.
- W2488194908 title "A control algorithm for the robot arm manipulator using the extended kalman filter" @default.
- W2488194908 hasPublicationYear "1988" @default.
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