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Title: Kinematically optimal robust control of redundant manipulators
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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.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
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Source:
IJAME, volume 22, number 4 (2017)
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License CC BY-NC-ND 4.0:
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Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Mechanical Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mechanics and Engineering (IJAME)
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mechanics and Engineering (IJAME) > International Journal of Applied Mechanics and Engineering (IJAME) (2017)
Last modified:
Jul 6, 2023
In our library since:
Apr 6, 2023
Number of object content hits:
34
All available object's versions:
https://www.zbc.uz.zgora.pl/publication/80386
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International Journal of Applied Mechanics and Engineering (IJAME)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 29 (2024)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 24 (2019)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 23 (2018)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 22 (2017)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 22, number 1 (2017)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 22, number 2 (2017)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 22, number 3 (2017)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 22, number 4 (2017)
- International Journal of Applied Mechanics and Engineering (IJAME), volume 22, number 4 (2017) - spis treści
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International Journal of Applied Mechanics and Engineering (IJAME), volume 29 (2024)
| Edition name | Date |
|---|---|
| Kinematically optimal robust control of redundant manipulators | Jul 6, 2023 |
