基于自适应滑模控制的机械臂轨迹控制

Proceedings of SOUTHEASTCON '94 Pub Date : 1994-04-10 DOI:10.1109/SECON.1994.324285

J.S. Park, Y. Jiang, T. Hesketh, D. Clements

{"title":"基于自适应滑模控制的机械臂轨迹控制","authors":"J.S. Park, Y. Jiang, T. Hesketh, D. Clements","doi":"10.1109/SECON.1994.324285","DOIUrl":null,"url":null,"abstract":"Considers an adaptive control algorithm for robot manipulators. The presented algorithm uses an adaptive sliding mode control law to ensure robustness. The proposed algorithms eliminate the requirement for inversion of the inertia matrix, the requirement for measurement of joint acceleration, and the requirement for calculation of a regressor. Computer simulation results show good properties of the proposed algorithm under large manipulator parameter uncertainties and disturbances.<<ETX>>","PeriodicalId":119615,"journal":{"name":"Proceedings of SOUTHEASTCON '94","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1994-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Trajectory control of manipulators using adaptive sliding mode control\",\"authors\":\"J.S. Park, Y. Jiang, T. Hesketh, D. Clements\",\"doi\":\"10.1109/SECON.1994.324285\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Considers an adaptive control algorithm for robot manipulators. The presented algorithm uses an adaptive sliding mode control law to ensure robustness. The proposed algorithms eliminate the requirement for inversion of the inertia matrix, the requirement for measurement of joint acceleration, and the requirement for calculation of a regressor. Computer simulation results show good properties of the proposed algorithm under large manipulator parameter uncertainties and disturbances.<<ETX>>\",\"PeriodicalId\":119615,\"journal\":{\"name\":\"Proceedings of SOUTHEASTCON '94\",\"volume\":\"42 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1994-04-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of SOUTHEASTCON '94\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SECON.1994.324285\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of SOUTHEASTCON '94","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SECON.1994.324285","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 9

摘要

研究了一种机器人机械手的自适应控制算法。该算法采用自适应滑模控制律来保证鲁棒性。该算法消除了惯性矩阵反演、关节加速度测量和回归量计算的要求。计算机仿真结果表明，该算法在较大的机械臂参数不确定性和干扰下具有良好的性能

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Trajectory control of manipulators using adaptive sliding mode control

Considers an adaptive control algorithm for robot manipulators. The presented algorithm uses an adaptive sliding mode control law to ensure robustness. The proposed algorithms eliminate the requirement for inversion of the inertia matrix, the requirement for measurement of joint acceleration, and the requirement for calculation of a regressor. Computer simulation results show good properties of the proposed algorithm under large manipulator parameter uncertainties and disturbances.<>

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of SOUTHEASTCON '94

自引率

0.00%

发文量