Nonlinear Control of a Robot Manipulator with a Nonholonomic Jerk Constraint. Issue 4 (11th November 2015)

• Record Type: Journal Article
• Authors: Rubio‐Hervas, Jaime; Reyhanoglu, Mahmut
• Is Part Of: Asian journal of control. Volume 18:Issue 4(2016)
• Page Start: 1566
• Page End: 1573
• Publication Date: 2015-11-11
• Subjects: Higher‐order nonholonomic constraints -- robot manipulators; Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.1254
• Languages: English
• ISSNs: 1561-8625

Abstract

Abstract: 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.