فهرست مقالات Rigid Robot Manipulators

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  1 - A Novel Robust Adaptive Trajectory Tracking in Robot Manipulators
  Shaghayegh Gorji Mohammad Javad Yazdanpanah
  In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in pres چکیده کامل

  In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controller is designed with two phases of adaptation. The first phase is related to the robot parameters and the other one is accounted for perturbation estimating. We investigated the stability in the sense of Lyapunov with derive adaptive laws and uniform ultimate boundedness in the applied worst condition. The simulation results for two degrees of freedom rigid robot manipulator effectively demonstrate capability of the mentioned approach. Moreover, the results show that the domain of attraction is so vast and a global uniform ultimate boundedness could be expected. پرونده مقاله
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  2 - Adaptive Sliding Mode Tracking Control of Mobile Robot in Dynamic Environment Using Artificial Potential Fields
  Abolfath Nikranjbar Masoud Haidari Ali Asghar Atai
  Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publicati چکیده کامل

  Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is continued. In this article, the effectiveness of the real-time harmonic potential field theory based on the panel method to generate the reference path and the orientation of the trajectory tracking control of the three-wheel nonholonomic robot in the presence of variable-size dynamic obstacle is investigated. The hybrid control strategy based on a backstepping kinematic and regressor-based adaptive integral sliding mode dynamic control in the presence of disturbance in the torque level and parameter uncertainties is employed. In order to illustrate the performance of the proposed adaptive algorithm, a hybrid conventional integral sliding mode dynamic control has been established. The employed control methods ensure the stability of the controlled system according to Lyapunov’s stability law. The results of simulation program show the remarkable performance of the both methods as the robust dynamic control of the mobile robot in tracking the reference path in unstructured environment containing variable-size dynamic obstacle with outstanding disturbance suppression characteristic. پرونده مقاله