Nonlinear tracking control on a robot manipulator in the task space with uncertain dynamics

被引：5

作者：

Soltanpour, M.R. ^{[1
]}

Fateh, M.M. ^{[1
]}

Ahmadi Fard, A.R. ^{[1
]}

机构：

[1] Shahrood University of Technology, Postal Code 3619995161, Shahrood

来源：

Journal of Applied Sciences | 2008年 / 8卷 / 23期

关键词：

Control; Feedback linearization; Robot manipulator; Robust nonlinear; Task space; Uncertainty;

D O I：

10.3923/jas.2008.4397.4403

中图分类号：

学科分类号：

摘要：

This study was presented the design of a nonlinear robust controller based on Lyapunov method for tracking control of a robot manipulator in the task space. First of all, the dynamics of manipulator was divided to the known and unknown parts. The feedback linearization was used to remove the known nonlinear terms from the closed loop system which was advantageous to reduce the estimated uncertainties. Then the robust controller was designed to overcome uncertainties using their estimated maximum values. The proposed controller can guarantee the globally asymptotical stability. This control approach was studied on a two links elbow manipulator and can be applied for n degrees of freedom robot manipulators. © 2008 Asian Network for Scientific Information.

引用

页码：4397 / 4403

页数：6

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