Proceedings ArticleDOI
Robust Control of Robot Manipulators in Cartesian Space
Pradeep Kumar Misra,Rajni V. Patel,C.A. Balafoutis +2 more
- pp 1351-1356
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In this article, the authors consider the problem of designing a robust control scheme that will enable the end-effector of a robot manipulator to track a specified trajectory in Cartesian space.Abstract:
In this paper, we consider the problem of designing a robust control scheme that will enable the end-effector of a robot manipulator to track a specified trajectory in Cartesian space. The control system is robust in the sense that the trajectory is tracked in the presence of uncertainties such as payload variations and joint friction. The robust control scheme uses linearized models of the manipulator about a prescribed, nominal Cartesian space trajectory. The models are obtained recursively, using purely numerical techniques. It is not necessary to specify the complete trajectory in advance: only a few look-ahead points are required at any given instant. The effect of payload variations is modeled as a disturbance vector. The robust control scheme is applied to the first three links of a Stanford manipulator. Simulation results show that the prescribed trajectory is tracked asymptotically in the presence of various disturbances.read more
Citations
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Journal ArticleDOI
A survey of efficient computational methods for manipulator inverse dynamics
TL;DR: This paper reviews only those algorithms which have been derived based on the Euler—Lagrange, Newton—Euler and Kane's formulations of the dynamic equations of motion and are applicable to rigid-link open-chain robot manipulators.
Journal ArticleDOI
Robust adaptive control of a 6-DOF space robot with flexible panels
Zhang-wei Yu,Guo-ping Cai +1 more
TL;DR: Simulation results indicate that the designed controller can effectively make the robot system with uncertain parameters reach a desired target and the elastic vibration of the panels may be suppressed simultaneously.
Book ChapterDOI
Manipulator Inverse Dynamics
C. A. Balafoutis,Rajni V. Patel +1 more
TL;DR: In this paper, the manipulability measures of robot arms are defined as a quantitative measure of a robot arm's manipulating ability in positioning and orienting its end-effector.
Book ChapterDOI
Linearized Dynamic Robot Models
C.A. Balafoutis,Rajni V. Patel +1 more
TL;DR: A feedback/feedforward control system is needed to remedy the trajectory tracking problem, where if onlyfeedforwardcontrol signals (calculated from a nonlinear dynamic model) are applied, the end-effector will not necessarily track the nominal trajectory.
References
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Journal ArticleDOI
A unified approach for motion and force control of robot manipulators: The operational space formulation
TL;DR: A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed, and the unified approach for motion and force control is developed.
Journal ArticleDOI
The robust control of a servomechanism problem for linear time-invariant multivariable systems
TL;DR: In this paper, it was shown that there is a robust controller for a linear, time-invariant, multivariable system (plant) that asymptotic tracking/regulation occurs independent of input disturbances and arbitrary perturbations in the plant parameters of the system.
Journal ArticleDOI
A Recursive Lagrangian Formulation of Maniputator Dynamics and a Comparative Study of Dynamics Formulation Complexity
TL;DR: It is concluded that recursive formultions based either on the Lagrangian or Newton-Euler dynamics offer the best method of dynamns calculation.
Journal ArticleDOI
Fast Nonlinear Control with Arbitrary Pole-Placement for Industrial Robots and Manipulators
TL;DR: In this paper, three nonlinear methods are presented, two of which are direct design procedures for industrial robots, based on a suitable partition of the dynamic equation of the industrial robot and provide directly applicable, explicit control laws for each drive.
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