scholarly journals Intelligent Tracking Control of Redundant Robot Manipulators including Actuator Dynamics

2018 ◽  
Vol 125 ◽  
pp. 50-58 ◽  
Author(s):  
Manju Rani ◽  
Ruchika ◽  
Naveen Kumar
Keyword(s):  
Tracking Control ◽  
Robot Manipulators ◽  
Redundant Robot ◽  
Actuator Dynamics ◽  
Intelligent Tracking

An Extended Jacobian-Based Formulation for Operational Space Control of Kinematically Redundant Robot Manipulators With Multiple Subtask Objectives: An Adaptive Control Approach

2019 ◽  
Vol 141 (5) ◽  
Author(s):  
Kamil Cetin ◽  
Enver Tatlicioglu ◽  
Erkan Zergeroglu
Keyword(s):  
Stability Analysis ◽  
Tracking Control ◽  
Robot Manipulators ◽  
Robot Dynamics ◽  
Simulation Studies ◽  
Matrix Formulation ◽  
Redundant Robot ◽  
Control Approach ◽  
Operational Space ◽  
The Stability

In this study, an extended Jacobian matrix formulation is proposed for the operational space tracking control of kinematically redundant robot manipulators with multiple subtask objectives. Furthermore, to compensate the structured uncertainties related to the robot dynamics, an adaptive operational space controller is designed, and then, the corresponding stability analysis is presented for kinematically redundant robot manipulators. Specifically, the proposed method is concerned with not only the stability of operational space objective but also the stability of multiple subtask objectives. The combined stability analysis of the operational space objective and the subtask objectives are obtained via Lyapunov based arguments. Experimental and simulation studies are presented to illustrate the performance of the proposed method.

Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators

2004 ◽  
Vol 9 (1) ◽  
pp. 129-132 ◽  
Author(s):  
E. Zergeroglu ◽  
D.D. Dawson ◽  
I.W. Walker ◽  
P. Setlur
Keyword(s):  
Tracking Control ◽  
Robot Manipulators ◽  
Redundant Robot ◽  
Nonlinear Tracking

scholarly journals Neural network-based nonlinear tracking control of kinematically redundant robot manipulators

2011 ◽  
Vol 53 (9-10) ◽  
pp. 1889-1901 ◽  
Author(s):  
Naveen Kumar ◽  
Vikas Panwar ◽  
N. Sukavanam ◽  
S.P. Sharma ◽  
J.H. Borm
Keyword(s):  
Neural Network ◽  
Tracking Control ◽  
Robot Manipulators ◽  
Redundant Robot ◽  
Nonlinear Tracking
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