Obiekt

Tytuł: Kinematically optimal robust control of redundant manipulators

Autor:

Galicki, Mirosław

Data wydania:

2017

Typ zasobu:

artykuł

Współtwórca:

Jurczak, Paweł - red.

Tytuł publikacji grupowej:

IJAME, volume 22 (2017)

Abstract:

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. ; 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. ; 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.

Wydawca:

Zielona Góra: Uniwersytet Zielonogórski

Format:

application/pdf

Identyfikator zasobu:

oai:zbc.uz.zgora.pl:73355

DOI:

10.1515/ijame-2017-0055

Strony:

839-865

Źródło:

IJAME, volume 22, number 4 (2017)

Jezyk:

eng

Licencja:

CC 4.0

Licencja CC BY-NC-ND 4.0:

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Prawa do dysponowania publikacją:

Biblioteka Uniwersytetu Zielonogórskiego

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