Adaptive control of redundant robotic manipulators with state constraints

• Autorzy: Galicki M.
• Języki publikacji: EN

Abstrakty

EN

In this work, the problem of real-time controlling a kinematically redundant manipulator is considered, so that its end-effector follows the prescribed geometric path. Provided that, a solution to the control problem of redundant manipulator exists, the Lyapunov stability theory is used to derive the control scheme generating a corresponding trajectory whose equilibrium is asymptotically stable. The approach offered does not require any inverse of robot kinematic equations and the exact knowledge of robot dynamic equations. Instead, a generalized transpose Jacobian controller with adaptive component estimating the gravity term is introduced to generate robot controls. The numerical simulation results carried out for a planar redundant 3-dof (three degrees of freedom) manipulator whose end-effector follows a prescribed geometric path given in a two dimensional task space, illustrate the trajectory performance of the proposed control scheme.

Słowa kluczowe

EN

robotic manipulator; end-effector path following; Lyapunov stability theory

PL

robot; teoria stabilności Lapunowa

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2012
• Tom: Vol. 17, no. 4
• Strony: 1123--1138
• Opis fizyczny: Bibliogr. 24 poz., wykr.

Twórcy

autor

Galicki M.

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

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