Title :
Dealing with time-varying parameter problem of robot manipulators performing path tracking tasks
Author :
Song, Y.D. ; Middleton, R.H.
Author_Institution :
NASA Center for Res. Excellence, North Carolina AT&T State Univ., Greensboro, NC, USA
fDate :
10/1/1992 12:00:00 AM
Abstract :
Using the properties of the element by element (or Hadamard) product of matrices, the authors obtain the robot dynamics in parameter-isolated form, from which a new control scheme is developed. The controller proposed yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching type control law. The results obtained are global in the initial state of the robot, and can be applied to rapidly varying systems
Keywords :
dynamics; matrix algebra; position control; robots; time-varying systems; E-matrix; Hadamard product; asymptotic tracking errors; dynamics; manipulators; path tracking; position control; robot; switching type control; time-varying parameter problem; Adaptive control; Control systems; Error correction; Gravity; Lyapunov method; Manipulators; Payloads; Robot control; Stability; Time varying systems;
Journal_Title :
Automatic Control, IEEE Transactions on
