A global adaptive link position-tracking controller for robot manipulators driven by induction motors (Q4355338)
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scientific article; zbMATH DE number 1062884
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| English | A global adaptive link position-tracking controller for robot manipulators driven by induction motors |
scientific article; zbMATH DE number 1062884 |
Statements
A global adaptive link position-tracking controller for robot manipulators driven by induction motors (English)
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23 April 1998
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link position tracking
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adaptive control systems.
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robot manipulator
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0.7863967418670654
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0.7861310243606567
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0.7763492465019226
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This paper has presented a singularity-free, adaptive, partial-state feedback, link position tracking controller for the full-order, nonlinear dynamic model representing a robot manipulator actuated by induction motors. The important aspects of the controller are that global asymptotic link position tracking is achieved with neither rotor flux measurements nor a priori knowledge of the mechanical subsystem parameters. Simulation results have been provided to illustrate the effectiveness of the proposed controller. The paper stresses the positive characteristics of the proposed controller as well as its drawbacks, i.e. the need for exact knowledge of the electical parameters.
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