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The design of a Second Order Sliding Mode controller to perform the motion control of a robot manipulator in presence of obstacles is discussed in this paper. A possible solution to the problem of planning a trajectory for the manipulator is first proposed. The obstacles are represented by discs in the robot workspace. The proposed solution consists in an analytical mapping of the discs, representing...
In this study, based on differential geometry input-output linearization method, a new robust control approach using global terminal sliding mode (GTSM) was developed for trajectory tracking and vibraton suppression of two-link flexible space manipulator, and the nonminimum phase control problem was solved. Firstly, the system outputs including joint angle and flexible-link vibration were redefined...
Rigid planar space robot is represented as Caplygin system and its base attitude can be stabilized by means of geometric phase. However, in cases when flexible arms are used for control of base attitude, inherent resonance modes are excited and instability is resulted. In this study we propose a stabilized controller is synthesized as adaptive tracking control system convined with sliding mode control...
In this paper, the sliding-mode variable structure control problem of a free-floating space-based manipulator system whose base attitude is controlled is studied. With the linear momentum conservation of the system, the kinematics and dynamics of the system are analyzed. It is demonstrated that the dynamic equations and kinematics Jacobian matrix of the system can be linearly dependent on a group...
The control problem of coordinated motion of free-floating dual-arm space robot with external disturbance is discussed. Combined the linear momentum conversation and the Lagrangian approach, the full-controlled dynamic equations of free-floating space robot with dual-arms is established and then inverted to the state equation for control design. Based on the terminal sliding mode control (SMC) technique,...
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