A new method for rejection of uncertainties in the tracking problem for robot manipulators

Juan A. Méndez; S. Torres; L. Acosta; E. J. González; V. M. Becerra

A new method for rejection of uncertainties in the tracking problem for robot manipulators

Juan A. Méndez, S. Torres, L. Acosta, E. J. González, V. M. Becerra

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper presents a new strategy for robust tracking in robot manipulators. The aim of the strategy is to reject parametric uncertainties due to model or load disturbances. The basic controller acting on the manipulator is a robust controller designed by Lyapunov’s direct method. Acting on this controller there is an adaptive system responsible for the adaptation of the basic parameter of the robust feedforward term. The performance of the strategy is tested in a Puma-560 manipulator. A comparison with existing techniques is done to verify the efficiency of the presented controller.

Original language	English
Title of host publication	Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics
Place of Publication	Setúbal
Publisher	INSTICC
ISBN (Print)	9789728865603
Publication status	Published - 2006

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@inproceedings{d8d55ecf2e4e4b439a33510e3f1dd478,

title = "A new method for rejection of uncertainties in the tracking problem for robot manipulators",

abstract = "This paper presents a new strategy for robust tracking in robot manipulators. The aim of the strategy is to reject parametric uncertainties due to model or load disturbances. The basic controller acting on the manipulator is a robust controller designed by Lyapunov{\textquoteright}s direct method. Acting on this controller there is an adaptive system responsible for the adaptation of the basic parameter of the robust feedforward term. The performance of the strategy is tested in a Puma-560 manipulator. A comparison with existing techniques is done to verify the efficiency of the presented controller. ",

author = "M{\'e}ndez, {Juan A.} and S. Torres and L. Acosta and Gonz{\'a}lez, {E. J.} and Becerra, {V. M.}",

year = "2006",

language = "English",

isbn = "9789728865603",

booktitle = "Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics",

publisher = "INSTICC",

}

TY - GEN

T1 - A new method for rejection of uncertainties in the tracking problem for robot manipulators

AU - Méndez, Juan A.

AU - Torres, S.

AU - Acosta, L.

AU - González, E. J.

AU - Becerra, V. M.

PY - 2006

Y1 - 2006

N2 - This paper presents a new strategy for robust tracking in robot manipulators. The aim of the strategy is to reject parametric uncertainties due to model or load disturbances. The basic controller acting on the manipulator is a robust controller designed by Lyapunov’s direct method. Acting on this controller there is an adaptive system responsible for the adaptation of the basic parameter of the robust feedforward term. The performance of the strategy is tested in a Puma-560 manipulator. A comparison with existing techniques is done to verify the efficiency of the presented controller.

AB - This paper presents a new strategy for robust tracking in robot manipulators. The aim of the strategy is to reject parametric uncertainties due to model or load disturbances. The basic controller acting on the manipulator is a robust controller designed by Lyapunov’s direct method. Acting on this controller there is an adaptive system responsible for the adaptation of the basic parameter of the robust feedforward term. The performance of the strategy is tested in a Puma-560 manipulator. A comparison with existing techniques is done to verify the efficiency of the presented controller.

M3 - Conference contribution

SN - 9789728865603

BT - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics

PB - INSTICC

CY - Setúbal

ER -

A new method for rejection of uncertainties in the tracking problem for robot manipulators

Abstract

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