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

Loading next page...
 
/lp/springer_journal/hierarchical-design-of-sigmoidal-generalized-moments-of-manipulator-pwxktNG6wQ
Publisher
Springer Journals
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

You’re reading a free preview. Subscribe to read the entire article.


DeepDyve is your
personal research library

It’s your single place to instantly
discover and read the research
that matters to you.

Enjoy affordable access to
over 18 million articles from more than
15,000 peer-reviewed journals.

All for just $49/month

Explore the DeepDyve Library

Search

Query the DeepDyve database, plus search all of PubMed and Google Scholar seamlessly

Organize

Save any article or search result from DeepDyve, PubMed, and Google Scholar... all in one place.

Access

Get unlimited, online access to over 18 million full-text articles from more than 15,000 scientific journals.

Your journals are on DeepDyve

Read from thousands of the leading scholarly journals from SpringerNature, Elsevier, Wiley-Blackwell, Oxford University Press and more.

All the latest content is available, no embargo periods.

See the journals in your area

DeepDyve

Freelancer

DeepDyve

Pro

Price

FREE

$49/month
$360/year

Save searches from
Google Scholar,
PubMed

Create lists to
organize your research

Export lists, citations

Read DeepDyve articles

Abstract access only

Unlimited access to over
18 million full-text articles

Print

20 pages / month

PDF Discount

20% off