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Paper Information

Journal:   INTERNATIONAL JOURNAL OF ENGINEERING   DECEMBER 2003 , Volume 16 , Number 4 (TRANSACTIONS B: APPLICATIONS); Page(s) 373 To 383.
 
Paper: 

INTEGRATOR BACKSTEPPING CONTROL OF A 5 DOF ROBOT MANIPULATOR WITH CASCADED DYNAMICS

 
 
Author(s):  LOTFAZAR A., EGHTESAD M., MOHSENI M.
 
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Abstract: 
In this paper, dynamic equations of motion of a 5 DoF robot manipulator including ‎mechanical arms with revolute joints and their electrical actuators are considered. The ‎application of integrator backstepping technique for trajectory tracking in presence of ‎parameters of uncertainty and disturbance is studied. The advantage of this control ‎technique is that it imposes the desired properties of stability by fixing the candidate ‎Lyapunov functions initially, then by calculating the other functions in a recursive ‎way. Simulation results are presented in order to evaluate the tracking performance ‎and the global stability of the closed loop system. The validity and usefulness of the ‎proposed technique for robot motion control when the system dynamics including ‎both mechanical arms and electrical actuators become more complex is obtained from ‎the results‏.‏
 
Keyword(s): INTEGRATOR BACKSTEPPING CONTROL, ACTUATORS DYNAMICS, 5 DOF ROBOT MANIPULATOR, ROBOT CONTROL
 
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