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Title: Robust task space trajectory tracking control of robotic manipulators
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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
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Source:
IJAME, volume 21, number 3 (2016)
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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) (2016)
Last modified:
Jul 6, 2023
In our library since:
Apr 7, 2023
Number of object content hits:
71
All available object's versions:
https://zbc.uz.zgora.pl/publication/80546
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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 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 21 (2016)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 21, number 1 (2016)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 21, number 2 (2016)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 21, number 3 (2016)
- International Journal of Applied Mechanics and Engineering (IJAME), volume 21, number 3 (2016) - Contents
- From the history of conferences on the machine and mechanism science
- Innovation of MMS with inspiration from the past
- Robust task space trajectory tracking control of robotic manipulators
- Limit load solutions for sen(t) specimens - 2d and 3d problems
- Influence of thermal radiation on magnetohydrodynamic (MHD) boundary layer flow of a viscous fluid over an exponentially stretching sheet
- Pressure distribution in a squeeze film spherical bearing with rough surfaces lubricated by an Ellis fluid
- Design and characterization of a novel knee articulation mechanism
- MHD heat transfer in two-layered flow of conducting fluids through a channel bounded by two parallel porous plates in a rotating system
- Soret and Dufour effects on MHD free convective flow past a vertical porous plate in the presence of heat generation
- Span-wise fluctuating MHD convective flow of a visco-elastic fluid through a porous medium in a hot vertical channel with thermal radiation
- Effect of electric field on dispersion of a solute in an MHD flow through a vertical channel with and without chemical reaction
- Peristaltic flow and heat transfer of a conducting Phan-Thien-Tanner fluid in an asymmetric channel - application to chyme movement in small intestine
- Analysis of forced spatial vibrations of a centrifugal pump impeller with axial forces balancing device
- Modelling accuracy of a car steering mechanism with rack and pinion and McPherson suspension
- Application of graphs in the analysis of vibrating 3-dimensional systems
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International Journal of Applied Mechanics and Engineering (IJAME), volume 21, number 4 (2016)
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International Journal of Applied Mechanics and Engineering (IJAME), volume 21, number 1 (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 |
|---|---|
| Robust task space trajectory tracking control of robotic manipulators | Jul 6, 2023 |
