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Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements.
- Source :
-
Mathematical Problems in Engineering . 2013, p1-9. 9p. - Publication Year :
- 2013
-
Abstract
- This paper concerns the tracking control of a robot manipulator with unknown uncertainties and disturbances. It presents a new control method that uses only joint position measurements to design a tracking controller. The controller has two parts. One is based on a feedback linearization technique; itmakes the nominal model of a manipulator asymptotically track a desired trajectory. The other is based on the idea of equivalent input disturbance (EID); it compensates for uncertainties and disturbances. Together they enable a robot manipulator to precisely track the desired trajectory. The new control algorithm is applied to a two-link robot manipulator, and simulation results demonstrate the validity of this method. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 1024123X
- Database :
- Academic Search Index
- Journal :
- Mathematical Problems in Engineering
- Publication Type :
- Academic Journal
- Accession number :
- 94813773
- Full Text :
- https://doi.org/10.1155/2013/719474