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ORIGINAL PAPER
Robust Task Space Trajectory Tracking Control of Robotic Manipulators
1
Faculty of the Mechanical Engineering, University of Zielona Góra, ul. Prof. Z. Szafrana 4, 65-516, Zielona Góra, Poland
Online publication date: 2016-09-10
Publication date: 2016-08-01
International Journal of Applied Mechanics and Engineering 2016;21(3):547-568
KEYWORDS
redundant manipulatortask space trajectory crackingfinite-time controlLyapunov stabilityvibration reduction
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.
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