The use of truncated joint velocities and simple uniformized procedures in an adaptive control of mechanical devices

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper is a brief report on the recent improvement of a novel approach invented for the control of approximately and partially known multivariable, non-linear, strongly coupled mechanical systems under dynamic interaction with an unmodeled environment. Like traditional Soft Computing (SC) does this method uses simple uniform structures and standard procedures. In contrast to the traditions, instead of Kolmogorov's approximation theorem these special structures originate from the mathematical framework of the Lagrangian Mechanics. This results in a considerable reduction of modeling complexity since the number of the tunable parameters is given ab ovo by knowing only the degree of freedom of the system to be controlled. This fact simplifies parameter tuning or "learning". Further advantage is that the great majority of "scaling" problems can be avoided in the case of the structures here used. The operation of the method is illustrated by simulation results developed for 3 degree of freedom a SCARA robot.

Original languageEnglish
Title of host publicationProceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999
EditorsK. Tchon
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages129-134
Number of pages6
ISBN (Electronic)0780356551, 9780780356559
DOIs
Publication statusPublished - 1999
Event1st Workshop on Robot Motion and Control, RoMoCo 1999 - Kiekrz, Poland
Duration: Jun 28 1999Jun 29 1999

Publication series

NameProceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999

Other

Other1st Workshop on Robot Motion and Control, RoMoCo 1999
CountryPoland
CityKiekrz
Period6/28/996/29/99

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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    Tar, J. K., Rudas, I. J., Kozlowski, K., & Horváth, L. (1999). The use of truncated joint velocities and simple uniformized procedures in an adaptive control of mechanical devices. In K. Tchon (Ed.), Proceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999 (pp. 129-134). [791064] (Proceedings of the 1st Workshop on Robot Motion and Control, RoMoCo 1999). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMOCO.1999.791064