Hierarchical Design of Sigmoidal Generalized Moments of Manipulator under Uncertainty

Hierarchical Design of Sigmoidal Generalized Moments of Manipulator under Uncertainty For the orientation control system of the manipulator’s end effector with electrical actuators, we develop a decomposition pr ocedure of feedback law design to track given trajectories in the end effector’s coordinate system. Owing to the S-shaped smooth sigma-functions used as the local feedback laws and corrections of the state observer, the tracking system is invariant with a given accuracy with respect to existing uncertainties under constraints imposed on the variables of the mechanical subsystem. The suggested approach does not involve the solution of the inverse kinematics and dynamics problems and also relaxes the requirements to the volume of a priori information about the plant and external perturbations. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Automation and Remote Control Springer Journals

Hierarchical Design of Sigmoidal Generalized Moments of Manipulator under Uncertainty

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Publisher
Pleiades Publishing
Copyright
Copyright © 2018 by Pleiades Publishing, Ltd.
Subject
Mathematics; Calculus of Variations and Optimal Control; Optimization; Systems Theory, Control; Control, Robotics, Mechatronics; Mechanical Engineering; Computer-Aided Engineering (CAD, CAE) and Design
ISSN
0005-1179
eISSN
1608-3032
D.O.I.
10.1134/S000511791803013X
Publisher site
See Article on Publisher Site

Abstract

For the orientation control system of the manipulator’s end effector with electrical actuators, we develop a decomposition pr ocedure of feedback law design to track given trajectories in the end effector’s coordinate system. Owing to the S-shaped smooth sigma-functions used as the local feedback laws and corrections of the state observer, the tracking system is invariant with a given accuracy with respect to existing uncertainties under constraints imposed on the variables of the mechanical subsystem. The suggested approach does not involve the solution of the inverse kinematics and dynamics problems and also relaxes the requirements to the volume of a priori information about the plant and external perturbations.

Journal

Automation and Remote ControlSpringer Journals

Published: Mar 12, 2018

References

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