Nonlinear Control of a Robot Manipulator with a Nonholonomic Jerk Constraint

We study the control of a prismatic‐prismatic‐revolute (PPR) robot manipulator subject to a nonholonomic jerk constraint, i.e., a third‐order nonintegrable design constraint. The mathematical model is obtained using the method of Lagrange multipliers. The control inputs are two forces and a torque a...

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Bibliographic Details
Published in:Asian journal of control 2016-07, Vol.18 (4), p.1566-1573
Main Authors: Rubio-Hervas, Jaime, Reyhanoglu, Mahmut
Format: Article
Language:English
Subjects:
Control algorithms
Feedback control systems
Game theory
Higher-order nonholonomic constraints
Mathematical models
Nonlinear systems
robot manipulators
Robots
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Summary:We study the control of a prismatic‐prismatic‐revolute (PPR) robot manipulator subject to a nonholonomic jerk constraint, i.e., a third‐order nonintegrable design constraint. The mathematical model is obtained using the method of Lagrange multipliers. The control inputs are two forces and a torque applied to the prismatic joints and the revolute joint, respectively. The control objective is to control the robot end‐effector movement while keeping the transverse jerk component as zero. The main result of the paper is the construction of a feedback control algorithm that transfers the manipulator from any initial equilibrium configuration to the zero equilibrium configuration in finite time. The effectiveness of the algorithm is illustrated through a simulation example.
ISSN:1561-8625
1934-6093
DOI:10.1002/asjc.1254