Please wait, while we are loading the content...
| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Broome, D. Qian Wang |
| Copyright Year | 1991 |
| Description | Author affiliation: Univ. Coll. London, UK (Broome, D.; Qian Wang) |
| Abstract | It is difficult to anticipate the range of dynamic effects that may be imposed on a robotic manipulator during sub-sea operations. The inherent buoyancy, added mass and viscous drag terms due to operating in water will produce different dynamic response than obtained from the arm in air. Also external disturbance loads may be imposed due to current, tides or vortex shedding at higher arm traverse rates. The magnitude of these effects could well detune an arm set up with fixed controller gains. In this paper, a self-tuning PID controller is implemented for underwater robotic manipulators based on a pole-placement design method. A second order system dynamic model with its general discrete-time transfer function is assigned to each joint of the robotic manipulator. The controller has the same form as the PID, whose digital counterpart is acquired using Tustine's bilinear transfer. An approximate recursive least squares identification method, which reduces computation time is used to identify the process parameters online. The PID controller's gains are continually updated using the most recent estimation of the dynamic behaviour of the robotic manipulator. Symbolic calculation is carried out beforehand to reduce the computational burden. A new explicit relationship between the process parameters and the controller gains is obtained for the first time. It is concluded that real-time implementation of the adaptive controller presented is possible.< |
| Starting Page | 1321 |
| Ending Page | 1326 |
| File Size | 365360 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780300785 |
| DOI | 10.1109/ICAR.1991.240460 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1991-06-19 |
| Publisher Place | Italy |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Adaptive control Robots Manipulator dynamics Three-term control Least squares approximation Dynamic range Tides Design methodology Transfer functions Programmable control |
| Content Type | Text |
| Resource Type | Article |
National Digital Library of India (NDLI) is a virtual repository of learning resources which is not just a repository with search/browse facilities but provides a host of services for the learner community. It is sponsored and mentored by Ministry of Education, Government of India, through its National Mission on Education through Information and Communication Technology (NMEICT). Filtered and federated searching is employed to facilitate focused searching so that learners can find the right resource with least effort and in minimum time. NDLI provides user group-specific services such as Examination Preparatory for School and College students and job aspirants. Services for Researchers and general learners are also provided. NDLI is designed to hold content of any language and provides interface support for 10 most widely used Indian languages. It is built to provide support for all academic levels including researchers and life-long learners, all disciplines, all popular forms of access devices and differently-abled learners. It is designed to enable people to learn and prepare from best practices from all over the world and to facilitate researchers to perform inter-linked exploration from multiple sources. It is developed, operated and maintained from Indian Institute of Technology Kharagpur.
Learn more about this project from here.
NDLI is a conglomeration of freely available or institutionally contributed or donated or publisher managed contents. Almost all these contents are hosted and accessed from respective sources. The responsibility for authenticity, relevance, completeness, accuracy, reliability and suitability of these contents rests with the respective organization and NDLI has no responsibility or liability for these. Every effort is made to keep the NDLI portal up and running smoothly unless there are some unavoidable technical issues.
Ministry of Education, through its National Mission on Education through Information and Communication Technology (NMEICT), has sponsored and funded the National Digital Library of India (NDLI) project.
| Sl. | Authority | Responsibilities | Communication Details |
|---|---|---|---|
| 1 | Ministry of Education (GoI), Department of Higher Education |
Sanctioning Authority | https://www.education.gov.in/ict-initiatives |
| 2 | Indian Institute of Technology Kharagpur | Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project | https://www.iitkgp.ac.in |
| 3 | National Digital Library of India Office, Indian Institute of Technology Kharagpur | The administrative and infrastructural headquarters of the project | Dr. B. Sutradhar bsutra@ndl.gov.in |
| 4 | Project PI / Joint PI | Principal Investigator and Joint Principal Investigators of the project |
Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon |
| 5 | Website/Portal (Helpdesk) | Queries regarding NDLI and its services | support@ndl.gov.in |
| 6 | Contents and Copyright Issues | Queries related to content curation and copyright issues | content@ndl.gov.in |
| 7 | National Digital Library of India Club (NDLI Club) | Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach | clubsupport@ndl.gov.in |
| 8 | Digital Preservation Centre (DPC) | Assistance with digitizing and archiving copyright-free printed books | dpc@ndl.gov.in |
| 9 | IDR Setup or Support | Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops | idr@ndl.gov.in |
|
Loading...
|