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<dc:title xml:lang="pl"><![CDATA[Kinematically optimal robust control of redundant manipulators]]></dc:title>
<dc:creator><![CDATA[Galicki, Mirosław]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[redundant robotic manipulator]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[task space trajectory tracking]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[robust optimal finite-time control]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[Lyapunov stability]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[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.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[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.]]></dc:description>
<dc:description xml:lang="pl"><![CDATA[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.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Jurczak, Paweł - red.]]></dc:contributor>
<dc:date><![CDATA[2017]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:format xml:lang="pl"><![CDATA[application/pdf]]></dc:format>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/73355/10.1515_ijame-2017-0055.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/80386/edition/73355/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:73355]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[IJAME, volume 22, number 4 (2017)]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:80386]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
<dc:rights xml:lang="pl"><![CDATA[CC 4.0]]></dc:rights>
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