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In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the considered system, since there may exist explicit unknown system parameters and also perturbations, a lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. The design contains two different phases of...
In this work, we propose an output feedback sliding mode control (SMC) method for trajectory tracking of robotic manipulators. The design process has two steps. First, we design a stable SMC approach by assuming that all state variables are available for feedback. Then, an output feedback version of this SMC design is presented which incorporates a model-free linear observer to estimate unknown velocity...
We present a methodology to steer the end effector of a robotic manipulator, which is constrained in terms of joint rates, on the surface within the workspace, to perform surface tasks. We develop smooth controllers for stabilizing the end effector to a point, and for tracking a trajectory on this surface, while respecting the input constraints, and the same time applying a specific force on it. We...
Manipulating flexible payloads are being extensively studied because of the potential applications. So far, the modeling method isn't perfect and there are few studies about the trajectory tracking of them. In this paper the modeling and trajectory tracking of manipulating flexible payloads by robot manipulators are studied. The finite element method (FEM) is used to approximate the vibration of flexible...
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