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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:
78
All available object's versions:
https://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 28 (2023)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 27 (2022)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 26 (2021)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 25 (2020)
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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) - Contents
- Eigen value approach to generalized thermoelastic interactions in an unbounded body with circular cylindrical cavity without energy dissipation
- Hydromagnetic rarefied fluid flow over a wedge in the presence of surface slip and thermal radiation
- Kinematically optimal robust control of redundant manipulators
- Low frequency sloshing analysis of cylindrical containers with flat and conical baffles
- FEM simulation of triple diffusive natural convection along inclined plate in porous medium: prescribed surface heat, solute and nanoparticles flux
- On the parameters of geometric constraints for cracked plates under tension - three-dimensional problems
- Impact of nonlinearity of the contact layer between elements joined in a multi-bolted system on its preload
- Initial unsteady free convective flow past an infinite vertical plate with radiation and mass transfer effects
- A study of chemically reactive species and thermal radiation effects on an unsteady MHD free convection flow through a porous medium past a flat plate with ramped wall temperature
- A numerical study of coupled non-linear equations of thermo-viscous fluid flow in cylindrical geometry
- On thermal instability of Kuvshiniski fluid with suspended particles saturated in a porous medium in the presence of a magnetic field
- Coupled finite volume and finite element method analysis of a complex large-span roof structure
- Basic flows of generalized second grade fluids based on a Sisko model
- Simple flows of pseudoplastic fluids based on dehaven model
- Influence of total inertia effects in a thrust curvilinear bearing lubricated with Newtonian lubricants
- The effect of MHD on free convection with periodic temperature and concentration in the presence of thermal radiation and chemical reaction
- Vibrational analysis of damped orthotropic rectangular plates with simple support on elastic Winkler foundation subjected to moving loads
- Analysis of energy consumption and possibilities of thermal-modernization in residential buildings in Poland case study: the town of Zielona Góra
- Influence of the mesh geometry evolution on gearbox dynamics during its maintenance
- Technical and economic aspects of low emission reduction in Poland
- Evaluation of strains and thicknesses of pipe elbows on the basis of expressions resulting from the eu-directive for the case of large and small deformations
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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 21 (2016)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 20 (2015)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 19 (2014)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 18 (2013)
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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 |
