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.
Zielona Góra: Uniwersytet Zielonogórski
IJAME, volume 22, number 4 (2017)
Biblioteka Uniwersytetu Zielonogórskiego
Jul 6, 2023
Apr 6, 2023
69
https://zbc.uz.zgora.pl/publication/80386
Edition name | Date |
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Kinematically optimal robust control of redundant manipulators | Jul 6, 2023 |
Galicki, Mirosław Jurczak, Paweł - red.
Dzieliński, Andrzej Beliczyński, Bartłomiej - red.
Zubowicz, Tomasz Brdyś, Mieczysław A. Korbicz, Józef - red. Uciński, Dariusz - red.
Raja, Ramachandran Sakthivel, Rathinasamy Anthoni, Selvaraj Marshal Kim, Hyunsoo Korbicz, Józef - red. Uciński, Dariusz - red.
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Kaczorek, Tadeusz (1932- ) Korbicz, Józef - red.
Ding, Deqiong Ma, Qiang Ding, Xiaohua Abaev, Pavel - ed. Razumchik, Rostislav - ed. Kołodziej, Joanna - ed.