DocumentCode :
1835944
Title :
Robust adaptive control of underactuated robot manipulators in Cartesian space
Author :
Shin, Jin-Ho ; Lee, Ju-Jang
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Volume :
1
fYear :
1997
fDate :
7-11 Sep 1997
Firstpage :
491
Abstract :
A study on the control of robot manipulators with free-swinging passive joints overcoming actuator failures is performed. In the case that the passive joints have neither actuators nor brakes, a robust adaptive control scheme overcoming the uncertainties is proposed in Cartesian space where tasks are planned, for underactuated manipulators. The proposed control scheme does not need a priori knowledge of the accurate dynamic parameters and the exact uncertainty bounds. The availability of the proposed control scheme is guaranteed by the assumption that the joint configuration remains in the inside of nonsingular regions during the total control process. To overcome this dynamic singularity problem for a nominal decoupling matrix in the controller, a singularity-free desired Cartesian path-planning in the outside of singular regions is achieved via a computer simulation. To illustrate the feasibility and validity of the proposed control scheme, simulation results for a three-link planar robot manipulator with one passive joint are presented
Keywords :
adaptive control; manipulator dynamics; path planning; robust control; Cartesian space; dynamic singularity problem; free-swinging passive joints; joint configurations; nominal decoupling matrix; nonsingular regions; robust adaptive control; three-link planar robot manipulator; underactuated robot manipulators; Actuators; Adaptive control; Manipulator dynamics; Orbital robotics; Path planning; Process control; Robot control; Robust control; Transmission line matrix methods; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
Type :
conf
DOI :
10.1109/IROS.1997.649108
Filename :
649108
Link To Document :
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