A feedback tracking system for robot
type: Item
instance of: scholarly article
title: A feedback tracking system for robot
zbMATH Open document ID: 0613.93042
DOI: 10.1007/BF01900610
author: Ling Hwang
author: Hongtao Zhang
published in: Applied Mathematics and Mechanics. (English Edition)
publication date: 1986-01-01T00:00:00Z
review text: A causal feedback control law for a specific class of smooth nonlinear multi-input multi-output systems is proposed. Then this law is proved to be inappropriate in order to guarantee tracking capability of the closed- loop system, given a class of reference signals, for which the finite time system convergence condition is satisfied. Next it is proved that the modified feedback control law (no longer a causal-one), together with a local full-rank property of the system output Jacobian, can guarantee the tracking virtue of the closed-loop system, for an arbitrary reference signal in some class. These general remarks are then applied to the control problem specific for manipulators of robots. A manipulator (an open chain of the fifth- order kinematic pairs) is supposed to grasp a target-body moving randomly in \(R^ 6\). The so-called speed-acceleration control algorithm is derived with the property of tracking and grasping an object moving arbitrarily without a priori knowledge of the gripper orientation while grasping. Finally, the results of simulation are given illustrating the case of 9R kinematic structure (with 3R gripper included) of an robot. These results show the convergence of the above tracking algorithm for one particular point in the operating space.
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 70B10
Mathematics Subject Classification ID: 70E15
Mathematics Subject Classification ID: 93C15
Mathematics Subject Classification ID: 93C35
zbMATH DE Number: 3993412
zbMATH Keywords: feedback control
zbMATH Keywords: causal feedback control law
zbMATH Keywords: robots
zbMATH Keywords: tracking
zbMATH Keywords: algorithm
zbMATH Keywords: continuous-time
reviewed by: Andrzej Kasiński
MaRDI profile type: Publication
cites work: Dynamics of manipulation robots. Theory and application
cites work: Resolved-acceleration control of mechanical manipulators
full work available at URL: https://doi.org/10.1007/bf01900610
OpenAlex ID: W1971089213
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description: scientific article; zbMATH DE number 3993412