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High-Accuracy Tracking Control of Robot Manipulators Using Time Delay Estimation and Terminal Sliding Mode

Title
High-Accuracy Tracking Control of Robot Manipulators Using Time Delay Estimation and Terminal Sliding Mode
Authors
Jin, M[Jin, Maolin]Jin, Y[Jin, Yi]Chang, PH[Chang, Pyung Hun]Choi, C[Choi, Chintae]
DGIST Authors
Chang, PH[Chang, Pyung Hun]
Issue Date
2011-09
Citation
International Journal of Advanced Robotic Systems, 8(4), 65-78
Type
Article
Article Type
Article
ISSN
1729-8806
Abstract
A time delay estimation based general framework for trajectory tracking control of robot manipulators is presented. The controller consists of three elements: a time-delay-estimation element that cancels continuous nonlinearities of robot dynamics, an injecting element that endows desired error dynamics, and a correcting element that suppresses residual time delay estimation error caused by discontinuous nonlinearities. Terminal sliding mode is used for the correcting element to pursue fast convergence of the time delay estimation error. Implementation of proposed control is easy because calculation of robot dynamics including friction is not required. Experimental results verify high-accuracy trajectory tracking of industrial robot manipulators.
URI
http://hdl.handle.net/20.500.11750/3436
DOI
10.5772/45687
Publisher
INTECH -OPEN ACCESS PUBLISHER
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringETC1. Journal Articles


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