A. Andreev, O. Peregudova, Lubov Tahtenkova, Lubov V. Kolegova
{"title":"On Output Feedback Control Problems of an Industrial Robot Manipulator","authors":"A. Andreev, O. Peregudova, Lubov Tahtenkova, Lubov V. Kolegova","doi":"10.1109/SUMMA48161.2019.8947519","DOIUrl":null,"url":null,"abstract":"The paper considers the motion control problem of a three-link manipulator. The solution to this problem is important for constructing the models of industrial robot manipulators such as PUMA 560. New results on the stationary motions stabilization of a three-link manipulator are obtained by means of bounded control torques without velocity measurement. The application of the proposed control schemes is demonstrated by numerical simulation results.","PeriodicalId":163496,"journal":{"name":"2019 1st International Conference on Control Systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 1st International Conference on Control Systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SUMMA48161.2019.8947519","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
The paper considers the motion control problem of a three-link manipulator. The solution to this problem is important for constructing the models of industrial robot manipulators such as PUMA 560. New results on the stationary motions stabilization of a three-link manipulator are obtained by means of bounded control torques without velocity measurement. The application of the proposed control schemes is demonstrated by numerical simulation results.
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