Comparative study of robot manipulators control strategies in joint space

Authors

  • Nardênio Almeida Martins UEM Author

DOI:

https://doi.org/10.4025/actascitechnol.v23i0.2786

Keywords:

robô manipulador, seguimento de trajetória, controle adaptativo, espaço de juntas

Abstract

Direct adaptive control algorithms for robot manipulators in joint space coordinates are provided. High precision tracking control of robot manipulators with unknown load is analyzed. A proposed adaptive controller is compared to two versions of direct adaptive controllers. Two versions of direct adaptive control methods are those suggested by Craig and Slotine and Li (Spong, 1996). Each direct adaptive control method has been simulated on the same trajectories and the performance has been evaluated based on error dynamics, trajectory tracking accuracy and parameter estimation

Downloads

Download data is not yet available.

Author Biography

  • Nardênio Almeida Martins, UEM
    possui graduação em Engenharia Elétrica Industrial pelo Instituto Católico de Minas Gerais (1994) , mestrado em Engenharia Elétrica pela Universidade Federal de Santa Catarina (1997) e curso-tecnico-profissionalizante em Técnico Em Metalurgia pelo Colégio Técnico Industrial de Metalurgia da Esc de Form Prof da Acesita (1986) . Atualmente é Professor não-titular assistente B da Universidade Estadual de Maringá. Tem experiência na área de Engenharia Elétrica , com ênfase em Controle Automação e Microinformática Industrial. Atuando principalmente nos seguintes temas: Controle Adaptativo, Robô Manipulador, Seguimento de Trajetória, Espaço de Juntas, Controle Cinemático e Espaço da Tarefa Currí­culo Lattes

Downloads

Published

2008-05-05

Issue

Vol. 23 (2001)

Section

Informatics

License

DECLARATION OF ORIGINALITY AND COPYRIGHTS

I Declare that current article is original and has not been submitted for publication, in part or in whole, to any other national or international journal. 

The copyrights belong exclusively to the authors. Published content is licensed under Creative Commons Attribution 4.0 (CC BY 4.0) guidelines, which allows sharing (copy and distribution of the material in any medium or format) and adaptation (remix, transform, and build upon the material) for any purpose, even commercially, under the terms of attribution.

Read this link for further information on how to use CC BY 4.0 properly.

 

How to Cite

Almeida Martins, N. (2008). Comparative study of robot manipulators control strategies in joint space. Acta Scientiarum. Technology, 23, 1469-1480. https://doi.org/10.4025/actascitechnol.v23i0.2786

Similar Articles

11-20 of 1185

You may also start an advanced similarity search for this article.