The Combination Trajectory Planning of Serial Robot in Cartesian Space and Joint Space
نویسندگان
چکیده
منابع مشابه
Overwhelming Trajectory Control of Flexible Space Robot
This paper presents a trajectory tracking control method for flexible space robot. The advantage of the method is that it is free from spill-over instability as it uses a robust overwhelming trajectory controller. The proposed controller is conceptualized for a single rotational degree of freedom case. The efficacy of the scheme is illustrated by simulation results. The stability analysis of th...
متن کاملOn Reference Trajectory Modification Approach for Cartesian Space Neural Network Control of Robot Manipulators
It is well known that computed torque robot control is subjected to performance degradation due to uncertainties in robot model, and application of neural network(NN) compensation techniques are promising. In this paper we examine the eeectiveness of NN as a compensator for the complex problem of Cartesian space control. In particular we examine the diierences in system performance when the sam...
متن کاملOptimal Trajectory Planning of a Box Transporter Mobile Robot
This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...
متن کاملTrajectory calculations for spherical geodesic grids in Cartesian space
This paper shows how to obtain accurate and efficient trajectory calculations for spherical geodesic grids in Cartesian space. Determination of the departure points is essential to characteristic-based methods that trace the value of a function to the foot of the characteristics and then either integrate or interpolate at this location. In this paper, the departure points are all computed in re...
متن کاملEliminating chattering phenomenon in sliding mode control of robot manipulators in the joint space using fuzzy logic
In industrial robotic manipulator, due to the presence of quite nonlinear dynamic and structural and nonstructural uncertainties, a precise model is not easily obtained. As a result, designing a controller with a suitable function based on system model is a challenging issue. Sliding mode control is a robust control with numerous applications which can overcome the aforementioned uncertainties....
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IOP Conference Series: Materials Science and Engineering
سال: 2019
ISSN: 1757-899X
DOI: 10.1088/1757-899x/563/5/052039