Robust model following control of manipulators in the task oriented space.
نویسندگان
چکیده
منابع مشابه
Discrete time robust control of robot manipulators in the task space using adaptive fuzzy estimator
This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...
متن کاملRobust Control of Electrically Driven Robots in the Task Space
In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....
متن کاملRobust Control of Electrically Driven Robots in the Task Space
In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....
متن کاملdiscrete time robust control of robot manipulators in the task space using adaptive fuzzy estimator
this paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. a novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. parameters of the fuzzy estimator are adapted to minimize the estimat...
متن کاملRobust Task-space Control of Robot Manipulators under Imperfect Transformation of Control Space
Robust control approaches have been extensively developed to control robot manipulators in joint-space. Even though they can present perfect tracking performances in joint-space, they cannot provide satisfactory performances in workspace under imperfect transformation of control space. In addition, many task-space approaches have assumed the perfect transformation, which is not real with presen...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1988
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.6.117