Trajectory Tracking Control for a 7-Arms Robot Manipulator

被引：0

作者：

Jie, Wang ^{[1
]}

Kim, Hyun-Hee ^{[2
]}

Abbasi, Saad ^{[2
]}

Lee, Min-Cheol ^{[2
]}

机构：

[1] Pusan Natl Univ, Dept Mech Engn, Busan, South Korea

[2] Pusan Natl Univ, Sch Mech Engn, 635-4 Jangjeon 2 Dong, Busan 609735, South Korea

来源：

ICAROB 2019: PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS | 2019年

基金：

新加坡国家研究基金会;

关键词：

manipulator; robust controller; sliding mode control; perturbation observer;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper proposes a trajectory tracking control method based SPO (sliding perturbation observer) for a 7-arms robot manipulator. The 7-arms robot manipulator is designed to assemble small parts or packaging in industrial manufacturing. System dynamics modeling is introduced at first. The dynamics of this 7-arms robot is difficult to determine precisely caused by its uncertainties and many nonlinear terms through mathematical analysis. An experimental identification process using signal compression method is applied to divide the linear term from integrated dynamics with non-linear terms and uncertainties. Estimation of the non-linear terms and uncertainties for compensating the real dynamics is obtained by SPO. Controller sliding mode control is designed based on estimation perturbation.

引用

页码：91 / 94

页数：4