The Internet of Things (IoT) is a crucial component of Industry 4.0. Due to growing demands of customers, the current IoT architecture will not be reliable and responsive for next generation IoT applications and upcoming services. In this paper, the next generation IoT architecture based on new technologies is proposed in which the requirements of future applications, services, and generated data are addressed.
This paper presents a control design for a robotic manipulator with uncertainties in both actuator dynamics and manipulator dynamics subject to asymmetric time-varying joint space constraints. Tangent-type time-varying barrier Lyapunov functionals (tvBLFs) are constructed to ensure no constraint violation and to remove the need for transforming the original constrained system into an equivalent unconstrained one. Adaptive Neural Networks (NNs) are proposed to handle uncertainties in manipulator dynamics and actuator dynamics in addition to the unknown disturbances. Proper input saturation is employed, and it is proved that under the proposed method the stability and semi-global uniform ultimate boundedness of the closed-loop system can be achieved without violation of constraints. The effectiveness of the theoretical developments is verified through numerical simulations.
Abstract. Planning of robot trajectory is a very complex task that plays a crucial role in design and application of robots in task space. This paper is concerned with path planning of flexible robot arms for a given two-end-point task in point-topoint motion, based on indirect solution of optimal control problem. We employ the finite element method to modeling and deriving the dynamic equations of robot manipulator with flexible link, so in the presence of all nonlinear terms in dynamic equations open loop optimal control approach is a good candidate for generating the path that optimizes the end effector trajectory. Then the Hamiltonian function is formed and the necessary conditions for optimality are derived from the Pontryagin's minimum principle. The obtained equations establish a two point boundary value problem which is solved by numerical techniques. Finally, simulations for a two-link planar manipulator with flexible links are carried out to investigate the efficiency of the presented method. The results illustrate the power and efficiency of the method to overcome the high nonlinearity nature of the problem.
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