Trajectory tracking for a serial robot manipulator passing through singular configurations based on the adaptive kinematics Jacobian method
نویسندگان
چکیده
منابع مشابه
Performance Prediction Network for Serial Manipulators Inverse Kinematics Solution Passing Through Singular Configurations
This paper is devoted to the application of Artificial Neural Networks (ANN) to the solution of the Inverse Kinematics (IK) problem for serial robot manipulators, in this study two networks were trained and compared to examine the effect of considering the Jacobian Matrix to the efficiency of the IK solution. Given the desired trajectory of the end effector of the manipulator...
متن کاملA Novel Robust Adaptive Trajectory Tracking in Robot Manipulators
In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...
متن کاملAn Adaptive Fuzzy Controller for Trajectory Tracking of Robot Manipulator
In this paper, an adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear saturation controller. The asymptotic stability of the proposed controller has been derived based on Lyapunaov energy function. The design procedure is straightforward due to its sim...
متن کاملAn Adaptive Robust Control Method for Trajectory Tracking of a 5 DOF RLED Robot Manipulator
In this paper, combined dynamic equations of motion of a rigid-link non-redundant n-DOF robot manipulator consisting of mechanical links, all with revolute joints, and electrical actuators are considered and application of an adaptive robust control algorithm is proposed for trajectory tracking of the robot manipulator. Analysis of stability of the suggested scheme is presented in details. The ...
متن کاملSingular configurations and direct kinematics of a new parallel manipulator
We present in this paper a new mechanical architecture for a parallel manipulator. We address the problem of the determination of the singular configurations of this architecture. Then we show that the direct kinematic problem has at most 16 solutions and exhibit an algorithm to find all the solutions.
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: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
سال: 2008
ISSN: 0959-6518,2041-3041
DOI: 10.1243/09596518jsce655