Name
Abstract | ||
|---|---|---|
In this paper, the contour tracking control of multi-DOF serial robots is developed for the first time and a new cross coupling control algorithm is proposed, based on contour errors of the end-effector and tracking errors of the joints. The contour error of the end-effector is transformed to the equivalent tracking errors of the active joints by the Jacobian regulation, and the control law is implemented in the joint level. Stability analysis of the proposed cross coupling control system is conducted using the Lyapunov method, followed by some simulation results for linear and nonlinear contour tracking to verify the effectiveness of the new cross coupling control system. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ROBIO.2014.7090540 | Robotics and Biomimetics |
Keywords | Field | DocType |
Lyapunov methods,end effectors,linear systems,stability,trajectory control,Jacobian regulation,Lyapunov method,contour tracking control,cross coupling contour tracking,cross coupling control algorithm,end-effector,linear contour tracking,multiDOF serial robots,nonlinear contour tracking,stability analysis,tracking errors | Control algorithm,Lyapunov function,Nonlinear system,Coupling,Jacobian matrix and determinant,Control theory,Control engineering,Symmetric matrix,Control system,Engineering,Robot | Conference |
Citations | PageRank | References |
0 | 0.34 | 6 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| P. R. Ouyang | 1 | 39 | 7.90 |
| Yi Huang | 2 | 850 | 98.48 |
| Wenhui Yue | 3 | 0 | 0.68 |
| Deshun Liu | 4 | 3 | 2.79 |