Robust task space trajectory tracking control of robotic manipulators

• Autorzy: Galicki M.

Identyfikatory

DOI

10.1515/ijame-2016-0033

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

redundant manipulator; task space trajectory cracking; finite-time control; Lyapunov stability; vibration reduction

PL

metody Lapunowa; redukcja drgań; manipulatory

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2016
• Tom: Vol. 21, no. 3
• Strony: 547--568
• Opis fizyczny: Bibliogr. 65 poz., wykr.

Twórcy

autor

Galicki M.

• Faculty of the Mechanical Engineering, University of Zielona Góra, ul. Prof. Z. Szafrana 4, 65-516, Zielona Góra, Poland

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę