Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties
Joint Authors
Chen, Yong
Chen, Kairui
Zhou, Bing
Yang, Liang
Wang, Chengdong
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-24
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
In this paper, we mainly solve the adaptive control problem of robot manipulators with uncertain kinematics, dynamics, and actuators parameters, which has been a long-standing, yet unsolved problem in the robotics field, because of the technical difficulties in handling highly coupled effect between control torque and the mentioned uncertainties.
To overcome the difficulties, we propose a new Lyapunov-based adaptive control methodology, which effectively fuses the inverse Jacobian technique and the actuator adaptation law, with which the chattering in tracking errors caused by actuator parameter perturbation is well suppressed.
It is demonstrated that the asymptotic convergence of all closed-loop signals is guaranteed.
Moreover, the effectiveness of our control scheme is illustrated through simulation studies.
American Psychological Association (APA)
Zhou, Bing& Yang, Liang& Wang, Chengdong& Chen, Yong& Chen, Kairui. 2020. Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties. Complexity،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1142239
Modern Language Association (MLA)
Zhou, Bing…[et al.]. Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties. Complexity No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1142239
American Medical Association (AMA)
Zhou, Bing& Yang, Liang& Wang, Chengdong& Chen, Yong& Chen, Kairui. Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties. Complexity. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1142239
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1142239