6533b7d5fe1ef96bd1265133

RESEARCH PRODUCT

Globally convergent adaptive and robust control of robotic manipulators for trajectory tracking

Francesco AlongeFrancesco Maria RaimondiFilippo D'ippolito

subject

EngineeringAdaptive controlbusiness.industryApplied MathematicsSCARAControl engineeringTracking (particle physics)Computer Science ApplicationsCompensation (engineering)Loop (topology)Settore ING-INF/04 - AutomaticaControl and Systems EngineeringCascadeControl theoryTrajectoryModel-based robot control Robust-adaptive control Friction compensationElectrical and Electronic EngineeringRobust controlbusiness

description

This paper deals with a globally convergent adaptive and robust control of robotic manipulators for trajectory tracking in the presence of friction modelled as static nonlinearities. Two control loops are designed according to the cascade control scheme: (a) an inner adaptive control loop, which includes computed torque and PD control actions and friction compensation and (b) an outer robust control loop for unmodelled dynamics compensation. With reference to item (a), two friction compensation schemes are presented; one of them uses both the reference and the actual velocities, whereas the other employs only the actual velocity. Experimental tests carried out on a two-link SCARA manipulator are shown in order to validate the proposed control scheme.

yearjournalcountryeditionlanguage
2004-09-01Control Engineering Practice
https://doi.org/10.1016/j.conengprac.2003.11.007