Optimal nonlinear position tracking control of a two-link flexible-joint robot manipulator

1998 ◽  
pp. 502-514 ◽  
Author(s):  
Tarek Lahdhiri ◽  
Hoda A. ElMaraghy
Keyword(s):  
Tracking Control ◽  
Robot Manipulator ◽  
Position Tracking ◽  
Flexible Joint ◽  
Position Tracking Control

scholarly journals Tool position tracking control of a nonlinear uncertain flexible robot manipulator by using robust H2/H∞ controller via T–S fuzzy model

Sadhana ◽  
2015 ◽  
Vol 40 (2) ◽  
pp. 307-333 ◽  
Author(s):  
VAHID AZIMI ◽  
MOHAMMAD BAGHER MENHAJ ◽  
AHMAD FAKHARIAN
Keyword(s):  
Tracking Control ◽  
Robot Manipulator ◽  
Fuzzy Model ◽  
Position Tracking ◽  
Flexible Robot ◽  
Position Tracking Control ◽  
Tool Position

Model-based control of rigid-link flexible-joint robots: an experimental evaluation

Robotica ◽  
1998 ◽  
Vol 16 (1) ◽  
pp. 11-21 ◽  
Author(s):  
M. S. de Queiroz ◽  
S. Donepudi ◽  
T. Burg ◽  
D. M. Dawson
Keyword(s):  
Experimental Evaluation ◽  
Robot Manipulator ◽  
Position Tracking ◽  
Direct Drive ◽  
Order Model ◽  
Flexible Joint ◽  
Rigid Link ◽  
Model Based ◽  
Flexible Joint Robots ◽  
Position Tracking Control

In this paper, we present an experimental evaluation of several link position tracking control algorithms for rigid-link flexible-joint robot manipulators. To study the performance of the controllers, an IMI 2-link direct-drive planar robot manipulator was modified to approximate linear torsional spring couplings from the actuators to the links. Preliminary experimental results seem to indicate that reduced-order, model-based controllers with an actuator feedback loop provide relatively good link position tracking while a full-order, model-based controller offers some further improvement in link position tracking at the expense of increased computation.

Practical Fixed-time Position Tracking Control of Permanent Magnet DC Torque Motor Systems

2020 ◽  
pp. 1-1
Author(s):  
Yunjie Wu ◽  
Guofei Li ◽  
Zongyu Zuo ◽  
Xiaodong Liu ◽  
Pengya Xu
Keyword(s):  
Permanent Magnet ◽  
Tracking Control ◽  
Fixed Time ◽  
Position Tracking ◽  
Motor Systems ◽  
Time Position ◽  
Position Tracking Control

Position Tracking Control with Velocity from Accelerometer and Encoder

2008 ◽  
Vol 41 (2) ◽  
pp. 14828-14833 ◽  
Author(s):  
Wen-Hong Zhu ◽  
Tom Lamarche
Keyword(s):  
Tracking Control ◽  
Position Tracking ◽  
Position Tracking Control
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