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A Model-Free Controller for Guaranteed Prescribed Performance Tracking of Both Robot Joint Positions and Velocities

Yiannis Karayiannidis (Institutionen för signaler och system, Mekatronik) ; Dimitrios Papageorgiou ; Zoe Doulgeri
IEEE Robotics and Automation Letters (2377-3766). Vol. 1 (2016), 1, p. 267-273.
[Artikel, refereegranskad vetenskaplig]

The problem of robot joint position and velocity tracking with prescribed performance guarantees is considered. The proposed controller is able to guarantee a prescribed transient and steady state behavior for the position and the velocity tracking errors without utilizing either the robot dynamic model or any approximation structures. Its performance is demonstrated and assessed via experiments with a KUKA LWR4+ arm.

Nyckelord: Motion Control of Manipulators; Robust/Adaptive Control of Robotic Systems



Denna post skapades 2016-12-19. Senast ändrad 2017-02-21.
CPL Pubid: 246275

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Robotteknik och automation

Chalmers infrastruktur