{"title":"基于自适应滑模控制的机械臂轨迹控制","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":"{\"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}","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}
Trajectory control of manipulators using adaptive sliding mode control
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.<>
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
