Trajectory Tracking Control of Robot Manipulators Based on U-Model
Joint Authors
Ma, Xianghua
Zhao, Yang
Di, Yiqun
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-05-12
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
A new trajectory tracking control method based on the U-model is proposed to improve the trajectory tacking speed of robot manipulators.
The U-model method is introduced to relieve the requirement of the dynamic mathematical model and make the design of trajectory tracking controller of robot manipulators simpler.
To further improve the trajectory tacking speed, an improved iterative learning control algorithm is used to suppress the influence of the initial state error with less computation time.
Experimental results show that the proposed control method is effective and practical for the trajectory tracking control of robot manipulators, especially with a high real-time requirement.
American Psychological Association (APA)
Ma, Xianghua& Zhao, Yang& Di, Yiqun. 2020. Trajectory Tracking Control of Robot Manipulators Based on U-Model. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1201026
Modern Language Association (MLA)
Ma, Xianghua…[et al.]. Trajectory Tracking Control of Robot Manipulators Based on U-Model. Mathematical Problems in Engineering No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1201026
American Medical Association (AMA)
Ma, Xianghua& Zhao, Yang& Di, Yiqun. Trajectory Tracking Control of Robot Manipulators Based on U-Model. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1201026
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1201026