Object structure

Creator:

Galicki, Mirosław

Contributor:

Jurczak, Paweł - red.

Title:

Robust task space trajectory tracking control of robotic manipulators

Group publication title:

IJAME, volume 21 (2016)

Subject and Keywords:

redundant manipulator ; task space trajectory cracking ; finite-time control ; Lyapunov stability ; vibration reduction

Abstract:

This work deals with the problem of the accurate 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 reduce 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 propose a class of chattering-free robust 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

Date:

2016

Resource Type:

artykuł

Format:

application/pdf

DOI:

10.1515/ijame-2016-0033

Pages:

547-568

Source:

IJAME, volume 21, number 3 (2016)

Language:

eng

License:

CC 4.0

License CC BY-NC-ND 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego