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By Dan Zhang, Bin Wei
The robot mechanism and its controller make an entire method. because the robot mechanism is reconfigured, the keep watch over process should be tailored as a result. the necessity for the reconfiguration often arises from the altering sensible necessities. This booklet will concentrate on the adaptive keep an eye on of robot manipulators to handle the replaced stipulations. the purpose of the publication is to summarise and introduce the state of the art applied sciences within the box of adaptive keep watch over of robot manipulators in an effort to enhance the methodologies at the adaptive keep an eye on of robot manipulators. Advances made long ago a long time are defined within the e-book, together with adaptive keep watch over theories and layout, and alertness of adaptive keep watch over to robot manipulators.
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According to Figs. 4 and 5 in (Horowitz and Tomizuka 1986), the control system has an inner loop MRAS controller, but it does not have an outer loop PID action controller. The PID controller is in the form of K p e K i edt K d e , but in the paper (Horowitz and Tomizuka 1986), the outer loop controller is in the form of K i e K p x p K d xv , which is absolutely not a PID controller. (2) For the Figs. 4 and 5 in (Horowitz and Tomizuka 1986), the outer loop controller is in the form of K i e K p x p K d xv , but in the similar paper (Horowitz et al.