Application of passivity based and integrator backstepping control methods on a 5 DOF robot manipulator incorporating actuator dynamics

Author

Lotfazar, Amir ; Eghtesad, Mohammad

Volume

15

fYear

2004

fDate

June 28 2004-July 1 2004

Firstpage

185

Lastpage

190

Abstract

In this paper, the application of passivity based and integrator backstepping techniques for trajectory tracking of a 5 DOF robot manipulator, with revolute joints and DC motors, in the presence of parameters uncertainty, friction and disturbance, is studied. Comparison of simulation results of the two methods shows that passivity based with respect to integrator method has more smooth control commands and better trajectory tracking in presence of disturbance, friction and uncertainty by using passivity properties of the robot

Keywords

friction; manipulator dynamics; manipulators; position control; stability; 5 DOF robot manipulator; DC motors; actuator dynamics; friction; integrator backstepping control methods; integrator backstepping techniques; parameter uncertainty; passivity based backstepping control methods; passivity based backstepping techniques; robot passivity properties; stability; trajectory tracking; Actuators; Backstepping; Control theory; DC motors; Equations; Friction; Manipulator dynamics; Nonlinear dynamical systems; Robot kinematics; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Congress, 2004. Proceedings. World

Conference_Location

Seville

Print_ISBN

1-889335-21-5

Type

conf

Filename

1438550