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Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements
Joint Authors
She, Jinhua
Lai, Xuzhi
Wu, Min
Chen, Xiangyong
Zhang, Ancai
Qiu, Jianlong
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-05
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
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; it makes 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.
American Psychological Association (APA)
Zhang, Ancai& She, Jinhua& Lai, Xuzhi& Wu, Min& Qiu, Jianlong& Chen, Xiangyong. 2013. Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1032116
Modern Language Association (MLA)
Zhang, Ancai…[et al.]. Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements. Mathematical Problems in Engineering No. 2013 (2013), pp.1-9.
https://search.emarefa.net/detail/BIM-1032116
American Medical Association (AMA)
Zhang, Ancai& She, Jinhua& Lai, Xuzhi& Wu, Min& Qiu, Jianlong& Chen, Xiangyong. Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1032116
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1032116