TY - GEN A1 - Galicki, Mirosław A2 - Jurczak, Paweł - red. PB - Zielona Góra: Uniwersytet Zielonogórski N2 - This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. N2 - Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. N2 - The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes. L1 - http://www.zbc.uz.zgora.pl/Content/73355/10.1515_ijame-2017-0055.pdf L2 - http://www.zbc.uz.zgora.pl/Content/73355 KW - redundant robotic manipulator KW - task space trajectory tracking KW - robust optimal finite-time control KW - Lyapunov stability T1 - Kinematically optimal robust control of redundant manipulators UR - http://www.zbc.uz.zgora.pl/dlibra/docmetadata?id=73355 ER -