ISSN:
1573-2878
Keywords:
Uncertain dynamical systems
;
robotic tracking
;
stability
;
nonlinear feedback control
Source:
Springer Online Journal Archives 1860-2000
Topics:
Mathematics
Notes:
Abstract The development of flexible manufacturing systems calls for industrial robots characterized by robustness of performance with regard to the variations of the loads and real time specification of the trajectory in the work space. In this paper, the design of a feedback controller guaranteeing such performance is considered. At first, the manipulator dynamics are embedded into a larger class of uncertain dynamical systems and a class of feedback controls is proposed that guarantees uniform ultimate boundedness of the tracking error. Successively, the methodology is specialized for the case of robotic manipulators to track trajectories described in task-oriented coordinates; the proposed control algorithm operates without requiring any explicit coordinate transformation.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF00939271
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