On the robust tracking control of kinematically constrained robot manipulators

Homayounzade, Mohamadreza; Keshmiri, Mehdi

doi:10.1109/icmech.2011.5971290

Cited by 9 publications

(5 citation statements)

References 15 publications

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“…and the following differential algebraic equation (DAE) system if the robot needs to interact with surfaces or perform haptics [84], [85], [86], [79] Figure 5. C(q,q), G(q) are the mass and inertia, Coriolliscentripal and gravity matrices still unknownt, B(q) is a vector of possible air-friction forces,φ(q) represents the vector of algebraic holonomic constraints of the end effector motion (geometry of a wall or surface), J T Φ (q) is the Jacobian matrix of the constraint function φ(q), λ is the constraint force (for example surface hardness) Figure 5.…”

Section: Self-transportmentioning

confidence: 99%

Air-arm: A new kind of flying manipulator

Mendoza-Mendoza

Sepulveda-Cervantes²,

Aguilar-Ibáñez

et al. 2015

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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We introduce a new kind of aerial manipulator based on multirotors. This device exploits the rarely used yaw movement which characterizes these aircrafts in order to generate and transmit forces and displacements trough a serial-chain of rigid links and other drones, as if the whole system was a flying robot arm with UAVS as rotational joints. Also we provide comparisons with the existing technologies and a condensed review concerning them. Finally, this paper proposes many open problems in order to develop the final system. Due to the scientific and social impact of this new approach, we provide some application examples.

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Section: Self-transportmentioning

confidence: 99%

Air-arm: A new kind of flying manipulator

Mendoza-Mendoza

Sepulveda-Cervantes²,

Aguilar-Ibáñez

et al. 2015

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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“…We therefore changed the tendon routing of the gripper and remodeled it as a finger subjected to holonomic constraints. The constraints are introduced as per [10] and a backstepping controller is designed for the reduced form of this finger system. This paper presents a method of controlling the joint variables of a constrained underactuated tendon driven gripper mechanism.…”

Section: Introductionmentioning

confidence: 99%

A Backstepping Control Strategy for Constrained Tendon Driven Robotic Finger

Sanjay

Bhise

Sainul

et al. 2019

2019 5th International Conference on Control, Automation and Robotics (ICCAR)

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The task of controlling an underactuated robotic finger with a single tendon and a single actuator is difficult. Methods for controlling the class of underactuated systems are available in the literature. However, this particular system does not fall into the class of underactuated system. This paper presents a design change which introduces kinematic constraints into the system, making the system controllable. Backstepping control strategy is used to control the system. Simulation results are presented for single finger driven by a single actuator.

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“…They are especially useful in areas where it is impractical or undesirable for a human to go, for example, undersea exploration, radioactive environments, and defusing explosive devices. Interest in the control of robot manipulators has been increasing over the past few years [1][2][3], and it is now a central issue in robotics.…”

Section: Introductionmentioning

confidence: 99%

Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements

Zhang

She

Lai

et al. 2013

Mathematical Problems in Engineering

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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.

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On the robust tracking control of kinematically constrained robot manipulators

Cited by 9 publications

References 15 publications

Air-arm: A new kind of flying manipulator

Air-arm: A new kind of flying manipulator

A Backstepping Control Strategy for Constrained Tendon Driven Robotic Finger

Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements

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