{"title":"Trajectory control of manipulators using adaptive sliding mode control","authors":"J.S. Park, Y. Jiang, T. Hesketh, D. Clements","doi":"10.1109/SECON.1994.324285","DOIUrl":null,"url":null,"abstract":"Considers an adaptive control algorithm for robot manipulators. The presented algorithm uses an adaptive sliding mode control law to ensure robustness. The proposed algorithms eliminate the requirement for inversion of the inertia matrix, the requirement for measurement of joint acceleration, and the requirement for calculation of a regressor. Computer simulation results show good properties of the proposed algorithm under large manipulator parameter uncertainties and disturbances.<<ETX>>","PeriodicalId":119615,"journal":{"name":"Proceedings of SOUTHEASTCON '94","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1994-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of SOUTHEASTCON '94","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SECON.1994.324285","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 9
Abstract
Considers an adaptive control algorithm for robot manipulators. The presented algorithm uses an adaptive sliding mode control law to ensure robustness. The proposed algorithms eliminate the requirement for inversion of the inertia matrix, the requirement for measurement of joint acceleration, and the requirement for calculation of a regressor. Computer simulation results show good properties of the proposed algorithm under large manipulator parameter uncertainties and disturbances.<>
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