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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...
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