کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
700570 | 890884 | 2007 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
On improving the performance in robust controllers for robot manipulators with parametric disturbances
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: On improving the performance in robust controllers for robot manipulators with parametric disturbances On improving the performance in robust controllers for robot manipulators with parametric disturbances](/preview/png/700570.png)
چکیده انگلیسی
This paper presents a new strategy for controlling rigid-robot manipulators in the presence of parametric uncertainties or un-modelled dynamics. The strategy combines an adaptation law with a well known robust controller proposed by Spong, which is derived using Lyapunov's direct method. Although the tracking problem of manipulators has been successfully solved with different strategies, there are some conditions under which their efficiency is limited. Specifically, their performance decreases when unknown loading masses or model disturbances are introduced. The aim of this work is to show that the proposed strategy performs better than existing algorithms, as verified with real-time experimental results with a Puma-560 robot.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 15, Issue 5, May 2007, Pages 557–566
Journal: Control Engineering Practice - Volume 15, Issue 5, May 2007, Pages 557–566
نویسندگان
S. Torres, J.A. Méndez, L. Acosta, V.M. Becerra,