Yayınlanmış 1 Ocak 2025
| Sürüm v1
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Açık
A Robust Observer Based End-Effector Trajectory Tracking Control of Collaborative Robotic Manipulators Actuated by Brushless DC Motors
Oluşturanlar
- 1. Ege Univ, Dept Mechatron Engn, TR-35100 Izmir, Turkiye
- 2. Ege Univ, Dept Elect Elect Engn, TR-35100 Izmir, Turkiye
- 3. Gebze Tech Univ, Dept Comp Engn, TR-41400 Gebze, Kocaeli, Turkiye
- 4. Embry Riddle Aeronaut Univ, Dept Aerosp Engn, Daytona Beach, FL 32114 USA
Açıklama
This study presents the design and the corresponding stability analysis of a robust observer based partial state feedback end-effector tracking controller for collaborative robot manipulators actuated via brushless DC motors. The proposed controller-observer couple compensate for the uncertainties associated with the robot link dynamics, kinematics of the manipulator and joint actuator parameters while not requiring joint velocity measurements. The overall stability and convergence of the error signals into an ultimate bound around origin is ensured via Lyapunov type arguments. Numerical simulation studies are also presented to back the theoretical findings and to illustrate the effectiveness of the proposed methodology.
Dosyalar
bib-f923ac11-f82f-4804-a2ec-7432095198a4.txt
Dosyalar
(243 Bytes)
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