By Tianmiao Wang, Xusheng Lei, Wusheng Chou (auth.), Caihua Xiong, Yongan Huang, Youlun Xiong, Honghai Liu (eds.)
These volumes represent the refereed court cases of the 1st overseas convention on clever Robotics and purposes, ICIRA 2008, held in Wuhan, China, in October 2008.
The 265 revised complete papers provided have been completely reviewed and chosen from 552 submissions; they're committed yet now not restricted to robotic movement making plans and manipulation; robotic regulate; cognitive robotics; rehabilitation robotics; wellbeing and fitness care and synthetic limb; robotic studying; robotic imaginative and prescient; human-machine interplay & coordination; cellular robotics;
micro/nano mechanical platforms; production automation; multi-axis floor machining;
Read or Download Intelligent Robotics and Applications: First International Conference, ICIRA 2008, Wuhan, China, October 15-17, 2008, Proceedings, Part I PDF
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Additional info for Intelligent Robotics and Applications: First International Conference, ICIRA 2008, Wuhan, China, October 15-17, 2008, Proceedings, Part I
Moreover, china have put more attention to develop the professional use robot to assist people in the extreme environment to make scientific research, including underwater, ice floor, oil gas field robot. Focusing on the polar extreme environment, a small unmanned aerial vehicle is proposed. 5. Sine health is the important index for people living conditions, surgical robots are also an important branch of the china professional use robot. More and more surgical The Development of Robot Technology in China Fig.
Keywords: Nonlinear disturbance observer, Lyapunov’s direct method, computed torque method. 1 Introduction Interest in high speed and high accurate motion control on one hand, and on the other hand, need for attenuation of external and internal disturbances exerted on robot manipulators, have caused the development of various kinds of motion controllers. Disturbance observer [1-2], adaptive robust control [3-4], and Kalman filtering approach  are good examples. However, some of these methods are difficult to design and implement such as adaptive controllers, some of them provide high gain feedback to reject disturbances such as robust controllers and some else are designed for certain class of disturbances.
The simulation is done for two cases: in first one only torque ripple is considered and in the next, both friction in joints and unknown load is considered. The parameter c Nonlinear Disturbance Observer for Robot Manipulators in 3D Space 23 for disturbance observer is chosen as 50. Friction model is adopted from . Parameters of manipulator are given in Table 1. 5 Conclusion A method for constructing the nominal robot dynamic model in the joint space is proposed based on disturbance observer approach for three-link robot manipulators.