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Adaptive hybrid position/force control of manipulator

Identyfikatory
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
The problem of the manipulators hybrid position/force control is not trivial because manipulators are objects with nonlinear and uncertain dynamics, unknown and variable parameters, and which operate in changeable conditions. Therefore the hybrid position/force control problem requires application of advanced control techniques for compensation of manipulator nonlinearities. The adaptive control system enables the manipulator to behave correctly, even if parameters of the mathematical model of the control object are unknown. In this paper, the hybrid position/force controller with an adaptive compensation of nonlinearities for the SCORBOT-ER 4pc robotic manipulator is presented. The control law and adaptive law presented herein guarantee practical stability of the closed-loop control system in the sense of Lyapunov. The results of a numerical simulation are presented.
Rocznik
Strony
811--825
Opis fizyczny
Bibliogr. 9 poz., rys., wykr.
Twórcy
autor
autor
  • Rzeszow University of Technology The Faculty of Mechanical Engineering and Aeronautics al. Powstańców Warszawy 8, 35-959 Rzeszów, POLAND, pgierlak@prz.edu.pl
Bibliografia
  • Canudas de Wit C., Siciliano B. and Bastin G. (1996): Theory of robot control. - London: Springer-Verlag.
  • Fujia Y., Mamoru M., Tomohide M. and Akira Y. (2011): Constraint-combined Force/Position Hybrid Control Method with Lyapunov Stability. - Tokyo: SICE Annual Conference.
  • Gierlak P. (2012): Hybrid Position/Force Control of the SCORBOT-ER 4pc Manipulator with Neural Compensation of Nonlinearities. - LNCS, vol.7268, pp.433-441.
  • Kumar N., Panwar V., Sukavanam N., Sharma S.P. and Borm J.-H. (2011): Neural Network Based Hybrid Force/Position Control for Robot Manipulators. - IJPEM, vol.12, No.3, pp.419-426.
  • Lewis F.L., Jagannathan S. and Yesildirek A. (1999): Control of Robot Manipulators and Nonlinear Systems. - London: Taylor & Francis.
  • Lewis F.L., Liu K. and Yesildirek A. (1995): Neural-net robot controller with guaranteed tracking performance. - IEEE Trans. Neural Networks, vol.6, pp.703-715.
  • Narendra K.S. and Annaswamy A.M. (1987): A new adaptive law for robust adaptation without persistent excitation. - IEEE Trans. Automat. Contr., vol.AC-32, No.2, pp.134-145.
  • Šabanović A. and Ohnishi K. (2011): Motion control system. - Singapore: IEEE Press.
  • Tchoń K., Mazur A., Dulęba I., Hossa R. and Muszyński R. (2000): Manipulators and mobile robots: models, movement planning and control. - Warsaw: AOW PLJ.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BPZ5-0027-0031
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