External Force Disturbance Rejection in Robotic Arms : An Adaptive Approach(<Special Section>Nonlinear Theory and its Applications)

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概要

• 論文の詳細を見る

• This paper is devoted to the problem of force sensorless disturbance rejection in robot manipulators. In the proposed approach, the control system uses position sensor signals and estimated values of external forces, instead of force sensor signals. The estimation process is performed via an adaptive force estimator. Then the estimated force vector is utilized to compensate for the force disturbance effect in order to achieve a better trajectory tracking performance. The force estimation is carried out directly using no environment model. Asymptotical stability of the proposed control system is analyzed by the invariant set and Lyapunov direct method establishing an appropriate theorem. Finally, the performance of the proposed control system is verified using numerical simulation.

• 社団法人電子情報通信学会の論文
• 2005-10-01

著者

• Sheikholeslam Farid

  Department Of Electrical And Computer Engineering Isfahan University Of Technology (iut)

• Sheikholeslam Farid

  Department Of Electrical And Computer Engineering Isfahan University Of Technology

• Keshmiri Mehdi

  Department Of Mechanical Engineering Isfahan University Of Technology (iut)

• Keshmiri Mehdi

  Department Of Mechanical Engineering Isfahan University Of Technology

• DANESH Mohammad

  Department of Electrical and Computer Engineering, Isfahan University of Technology (IUT)

• Danesh Mohammad

  Department Of Electrical And Computer Engineering Isfahan University Of Technology (iut)

関連論文

• Robust Adaptive Control of Nonlinear Systems with Time-Varying Parameters and Its Application to Chua's Circuit
• An Adaptive Manipulator Controller Based on Force and Parameter Estimation(Control, Neural Networks and Learning,Nonlinear Theory and its Applications)
• External Force Disturbance Rejection in Robotic Arms : An Adaptive Approach(Nonlinear Theory and its Applications)
• Optimal Trajectory Planning for Minimum Vibration of Flexible Redundant Cooperative Manipulators

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