Model tracking controller design of robot manipulator system with disturbances. (26th June 2015)

• Record Type: Journal Article
• Authors: Wang, Dazhong; Wu, Shujing; Wang, Guoqiang; Okubo, Shigenori
• Is Part Of: Advances in mechanical engineering. Volume 7:Number 7(2015:Jul.)
• Publication Date: 2015-06-26
• Subjects: Robotics and artificial intelligence -- model tracking control -- robot manipulator system -- robust design; Mechanical engineering -- Periodicals; 621.05
• DOI: 10.1177/1687814015592367
• Languages: English
• ISSNs: 1687-8132

Abstract

In the model tracking control of robot manipulator system, the treatment of nonlinear uncertainty in the system has always been an active research field. This article establishes a kinetic equation for robot manipulator system based on Lagrange equation and proposes a model tracking control system based on differential divisor. On this basis, this article proposes a model tracking control scheme for robot manipulator systems with disturbances. The proposed scheme is robust stable under the external disturbances. At last, the system simulation approach is employed to verify the effectiveness of this scheme on robot manipulator control.