Operational space trajectory tracking control of robot manipulators endowed with a primary controller of synthetic joint velocity

Kinematically Optimal Robust Control of Redundant Manipulators

“…The first approach presented in works Khatib [1], Hsu et al [2], Canudas et al [3], Siciliano et al [4], Galicki [5], Kelly and Moreno [6], Nakanishi et al [7], Moreno-Valenzuela and Gonzales-Hernandez [8], Tatlicioglu et al [9], Sadeghian et al [10], Sadeghian et al [11], Feng and Palaniswami [12], Zergeroglu et al [13], Braganza et al [14], Braganza et al [15], Galicki [16], Cheah et al [17], Li and Cheah [18], Li and Cheah [19], Galicki [20] is based on the application of the (generalized) pseudo-inverse of the manipulator Jacobian matrix in the control formulation. The control techniques offered in Khatib [1], Hsu et al [2], Canudas et al [3], Siciliano et al [4], Galicki [5], Kelly and Moreno [6], Nakanishi et al [7], Moreno-Valenzuela and Gonzales-Hernandez [8] require the full knowledge of the robot dynamics neglecting the external disturbances.…”

“…The control techniques offered in Khatib [1], Hsu et al [2], Canudas et al [3], Siciliano et al [4], Galicki [5], Kelly and Moreno [6], Nakanishi et al [7], Moreno-Valenzuela and Gonzales-Hernandez [8] require the full knowledge of the robot dynamics neglecting the external disturbances. Works Tatlicioglu et al [9], Sadeghian et al [10], Sadeghian et al [11], Feng and Palaniswami [12], Zergeroglu et al [13], Braganza et al [14], Braganza et al [15], Galicki [16], Cheah et al [17], Li and Cheah [18], Li and Cheah [19], Galicki [20] present adaptive control algorithms to compensate for parametric uncertainties in dynamic model including only the linearly parametrizable friction terms (viscous friction) and also neglecting the external (non-linearly parametrizable) disturbances.…”

Robust Task Space Finite-Time Chattering-Free Control of Robotic Manipulators

“…In such a context, one can distinguish three major approaches of controlling the non-redundant and/or redundant robotic manipulators in the task space. The control techniques offered in the first approach [16][17][18][19][20][21][22][23][24][25][43][44][45] require the full knowledge of the dynamics neglecting the external disturbances. In the second approach, works [26][27][28][29][30][31][32][33][34][35][36][37] present adaptive control algorithms to compensate for parametric uncertainties in dynamic model including only the linearly parametrizable friction terms (viscous friction) and also neglecting the external (nonlinearly parametrizable) disturbances.…”

Constraint finite-time control of redundant manipulators

“…The first approach presented in works [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20] is based on the application of the (generalized) pseudo-inverse of the manipulator Jacobian matrix in the control formulation. The control techniques offered in [1][2][3][4][5][6][7][8] require the full knowledge of the robot dynamics neglecting the external disturbances. Works [9][10][11][12][13][14][15][16][17][18][19][20] present adaptive control algorithms to compensate for parametric 641 to the undesirable chattering effect [36].…”