White Paper: Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators
We address the problem of robust tracking control using a PD-plus-feed forward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base.
In this note, motivated by the PD-plus-feedforward control idea and Man’s work, a new intelligent adaptive robust control scheme is proposed for robot manipulators with model uncertainties and external disturbance. The novel control scheme proposed in this paper contains a PD plus-feedforward part and an intelligent robust compensational part.
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Annual Salary Survey
After almost a decade of uncertainty, the confidence of plant floor managers is soaring. Even with a number of challenges and while implementing new technologies, there is a renewed sense of optimism among plant managers about their business and their future.
The respondents to the 2014 Plant Engineering Salary Survey come from throughout the U.S. and serve a variety of industries, but they are uniform in their optimism about manufacturing. This year’s survey found 79% consider manufacturing a secure career. That’s up from 75% in 2013 and significantly higher than the 63% figure when Plant Engineering first started asking that question a decade ago.