Global and semi-global motion control of a robotic arm without velocity measurement

New models of nonlinear control of multilink robotic manipulators are substantiated. The feedback structure of these models makes it possible to stabilize the positions and track the trajectories of the manipulators without measuring the angular velocities of the links. The constructed control model...

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Bibliographic Details
Published in:AIP conference proceedings 2024-06, Vol.3119 (1)
Main Authors: Buranov, J. I., Khusanov, J. Kh
Format: Article
Language:English
Subjects:
Angular velocity
Energy consumption
Manipulators
Motion control
Nonlinear control
Robot arms
Robot control
Velocity measurement
Online Access:Get full text
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Summary:New models of nonlinear control of multilink robotic manipulators are substantiated. The feedback structure of these models makes it possible to stabilize the positions and track the trajectories of the manipulators without measuring the angular velocities of the links. The constructed control models take into account the features of the connection and drives of the links based on the simulation of the system in a cylindrical phase space. This makes it possible to reduce the energy consumption for ensuring global and semi-global stabilization of given motions.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0214900