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In this paper, an adaptive proportional-derivative (PD) plus sliding mode control (SMC) algorithm, APD-SMC in short, is proposed for tracking control of robotic manipulators. The PD control part is used to bring the trajectory to the normalized tracking, the SMC part forces the trajectory close to the sliding surface, and the adaptive control part is used to estimate the dynamics of the system. The...
In this paper, a nonlinear PD-type control law is proposed in position domain and applied to contour tracking control of a robotic manipulator. In the developed control system, the robotic motions are viewed as a master motion, controlled in time domain, and slave motions controlled in position domain. The master motion is used as a reference for the slave motions, and the slave motions are synchronized...
In this paper, the contour tracking control of multi-DOF serial robots is developed for the first time and a new cross coupling control algorithm is proposed, based on contour errors of the end-effector and tracking errors of the joints. The contour error of the end-effector is transformed to the equivalent tracking errors of the active joints by the Jacobian regulation, and the control law is implemented...
A hybrid five-bar mechanism is a special parallel mechanism that consists two different types of driving actuators: a uncontrollable constant velocity (CV) motor and a controllable servo motor. The control for such a system is still a challenge because of the coupling behavior between the CV motor and the servomotor through a closed loop mechanism. In this paper, the hybrid five-bar mechanism is revisited...
In this paper, a new position domain PD control is proposed to control a multi-DOF nonlinear robotic manipulator for the purpose of improving contour tracking performance. To develop this new position domain control system, a robotic manipulator is treated as a master-slave system where the master motion is used as an independent reference through equidistantly sampling, while slave motions are described...
One of the most important tasks in robotic applications is trajectory tracking. For such applications it is inherently important that the system obtains a high tracking performance. A widespread control method for trajectory tracking is PD control, which is well-known for its ease of implementation and acceptable tracking performance. However, for tasks that require high precision some advanced methods...
In this paper, a new position domain PD control is proposed focusing on improving contour tracking performance of robotic systems. First, a robotic system is treated as a master-slave system where the master motion is used as an independent reference through equidistantly sampling, while the slave motion is described as a function of the master motion according to contour trajectory requirements....
In this paper, we propose a new iterative learning control called Switching Gain PD-PD (SPD-PD) Type Iterative Learning Control for trajectory tracking of time varying, nonlinear systems with uncertainty and disturbance. In the developed control scheme a PD feedback control with switching gains on iteration domains and a PD type iterative learning control, based on previous iterations, combines tracking...
In this paper we review the world-wide study on micro-motion systems both from an academic and an industrial perspective. The objective of the review is to answer the following questions: (1) What are the limitations of technologies to develop a micro-motion device in terms of function, motion range, accuracy, and speed it can achieve? (2) What is any economic implication of these technologies? (3)...
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