On improving the performance in robust controllers for robot manipulators with parametric disturbancesTorres, S., Mendez, J. A., Acosta, L. and Becerra, V. M. (2007) On improving the performance in robust controllers for robot manipulators with parametric disturbances. Control Engineering Practice, 15 (5). pp. 557-566. ISSN 0967-0661 Full text not archived in this repository. It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing. To link to this item DOI: 10.1016/j.conengprac.2006.10.003 Abstract/SummaryThis paper presents a new strategy for controlling rigid-robot manipulators in the presence of parametric uncertainties or un-modelled dynamics. The strategy combines an adaptation law with a well known robust controller proposed by Spong, which is derived using Lyapunov's direct method. Although the tracking problem of manipulators has been successfully solved with different strategies, there are some conditions under which their efficiency is limited. Specifically, their performance decreases when unknown loading masses or model disturbances are introduced. The aim of this work is to show that the proposed strategy performs better than existing algorithms, as verified with real-time experimental results with a Puma-560 robot. (c) 2006 Elsevier Ltd. All rights reserved.
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