Obiekt
Tytuł: On tracking control of rigid and flexible joint robots
Współtwórca:
Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.
Podtytuł:
Mathematical Methods in Robotics
Tytuł publikacji grupowej:
Abstract:
The problem of (semi-global) trajectory tracking control of "rigid" and "flexible" joints robots using computed torque based controllers is considered. The paper contains two contributions; firstly, for rigid robots it is shown that velocity in the control algorithm can be replaced by the filtered position, thus obviating the explicit need for "state observers". ; Secondly, it is shown that it is possible to achieve trajectory tracking of flexible joint robots "without calculating link jerk". Removing the need for observers and the determination of link jerk reduces the controller complexity and enhances its robustness with respect to parameter uncertainty and unmodelled dynamics.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Identyfikator zasobu:
Strony:
Źródło:
AMCS, volume 5, number 2 (1995) ; kliknij tutaj, żeby przejść
Jezyk:
Prawa do dysponowania publikacją:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Repozytorium > Jednostki organizacyjne > Wydział Informatyki, Elektrotechniki i Automatyki
- Repozytorium > Typy utworów > Artykuły
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS)
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1995)
Data ostatniej modyfikacji:
2021-09-02
Data dodania obiektu:
2020-09-21
Liczba wyświetleń treści obiektu:
119
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/repozytorium/publication/64260
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Wyświetl opis w formacie OAI-PMH:
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5, number 1 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5, number 2 (1995)
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- On the existence of an optimally failure tolerant 7R manipulator Jacobian
- Non-linear robot control: Method of exact linearization and decoupling by state feedback and alternative control design methods
- Lyapunov control in robotic systems: Tracking regular and chaotic dynamics
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| Nazwa wydania | Data |
|---|---|
| On tracking control of rigid and flexible joint robots | 2021-09-02 |
