کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5005131 | 1369009 | 2011 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Operational space trajectory tracking control of robot manipulators endowed with a primary controller of synthetic joint velocity
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
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چکیده انگلیسی
In this paper, a new control algorithm for operational space trajectory tracking control of robot arms is introduced. The new algorithm does not require velocity measurement and is based on (1) a primary controller which incorporates an algorithm to obtain synthesized velocity from joint position measurements and (2) a secondary controller which computes the desired joint acceleration and velocity required to achieve operational space motion control. The theory of singularly perturbed systems is crucial for the analysis of the closed-loop system trajectories. In addition, the practical viability of the proposed algorithm is explored through real-time experiments in a two degrees-of-freedom horizontal planar direct-drive arm.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: ISA Transactions - Volume 50, Issue 1, January 2011, Pages 131-140
Journal: ISA Transactions - Volume 50, Issue 1, January 2011, Pages 131-140
نویسندگان
Javier Moreno-Valenzuela, Luis González-Hernández,