Robust Control in Task Space for Redundant Manipulator

2021 ◽  
Author(s):  
Martin Crespo ◽  
Martin Mujica ◽  
Mourad Benoussaad ◽  
Sergio Junco
Keyword(s):  
Robust Control ◽  
Task Space ◽  
Redundant Manipulator

The Augmented Task Space Approach for Redundant Manipulator Control

1988 ◽  
Vol 21 (16) ◽  
pp. 125-129
Author(s):  
L. Sciavicco ◽  
B. Siciliano
Keyword(s):  
Task Space ◽  
Redundant Manipulator ◽  
Manipulator Control ◽  
Space Approach

scholarly journals Robust Task Space Trajectory Tracking Control of Robotic Manipulators

2016 ◽  
Vol 21 (3) ◽  
pp. 547-568 ◽  
Author(s):  
M. Galicki
Keyword(s):  
Trajectory Tracking ◽  
Lyapunov Stability Theory ◽  
Task Space ◽  
Redundant Manipulator ◽  
Trajectory Tracking Control ◽  
Finite Time Convergence ◽  
Robot Trajectory ◽  
Vector Variable ◽  
Control Schemes ◽  
Chattering Free

Abstract This work deals with the problem of the accurate task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. Furthermore, the movement is to be accomplished in such a way as to reduce both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of chattering-free robust controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

scholarly journals A Robust Control Strategy of Redundant Manipulator by Workspace Observer.

1995 ◽  
Vol 115 (8) ◽  
pp. 991-998 ◽  
Author(s):  
Naoki Oda ◽  
Toshiyuki Murakami ◽  
Kouhei Ohnishi
Keyword(s):  
Robust Control ◽  
Control Strategy ◽  
Redundant Manipulator
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