Research and Application Status of Industrial Robot Control System

Yan, Dongya

doi:10.1109/icmcce.2018.00012

Cited by 6 publications

(1 citation statement)

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“…Control of robot manipulators has attracted a great deal of attentions in the past few decades, due to its wide application in industrial manufacturing [1], military [2], medical [3], and other fields [4]. Some promising results studying robot manipulators have been reported in [5][6][7][8][9][10][11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties

et al. 2020

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In this paper, we mainly solve the adaptive control problem of robot manipulators with uncertain kinematics, dynamics, and actuators parameters, which has been a long-standing, yet unsolved problem in the robotics field, because of the technical difficulties in handling highly coupled effect between control torque and the mentioned uncertainties. To overcome the difficulties, we propose a new Lyapunov-based adaptive control methodology, which effectively fuses the inverse Jacobian technique and the actuator adaptation law, with which the chattering in tracking errors caused by actuator parameter perturbation is well suppressed. It is demonstrated that the asymptotic convergence of all closed-loop signals is guaranteed. Moreover, the effectiveness of our control scheme is illustrated through simulation studies.

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