Trajectory tracking control of two-link industrial robot manipulator based on C++
نویسندگان
چکیده
منابع مشابه
Dynamics and Trajectory Tracking Control of a Two-Link Robot Manipulator
Operational problems with robot manipulators in space relate to several factors, most importantly, structural flexibility and subsequent difficulties with their position control. In this paper we present control methods for endpoint tracking of a 12 6 12 6 m2 trajectory by a two-link robot manipulator. Initially, a manipulator with rigid links is modeled using inverse dynamics, a linear quadrat...
متن کاملadaptive control of two-link robot manipulator based on the feedback linearization method and the proposed neural network
This paper proposes an adaptive control method based on the feedback linearization technique and a proposed neural network, for tracking and position control of an industrial manipulator. At first, it is assumed that the dynamics of the system are known and the control signal is constructed by the feedback linearization method. Then to eliminate the effects of the uncertainties and external d...
متن کاملDistributed Parameter Model Based Trajectory Tracking Control of a Single-Link Flexible Robot Manipulator
In this paper we present a new approach for joint trajectory tracking of a single-link flexible robot manipulator. Firstly a distributed parameter dynamic model is derived using extended Hamilton Principle. Based on this model a new moment feedback trajectory tracking control scheme is designed for a single-link flexible robot manipulator having a payload at its free end. The control scheme is ...
متن کاملQFT Control of a Two-Link Rigid-Flexible Manipulator
This paper evaluates a new and simple controller design method based on QFT (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. A piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. This system is modeled as a nonlinear multi-input multi-output (MIMO) control systems whose inputs are two...
متن کاملTwo-Link Flexible Manipulator Modelling and Tip Trajectory Tracking Based on the Absolute Nodal Coordinate Method
It has been demonstrated that the absolute nodal coordinate formulation (ANCF) proposed recently in literature can be used to exactly describe the flexible multibody system unlike traditional methods such as the floating coordinate method and assumed mode method. Therefore, in this paper a new dynamic modeling technique for a two-link flexible manipulator based on absolute nodal coordinate meth...
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: International Journal of Rapid Manufacturing
سال: 2019
ISSN: 1757-8817,1757-8825
DOI: 10.1504/ijrapidm.2019.097024