Comparative study of robot manipulators control strategies in joint space

Detalhes bibliográficos
Autor(a) principal: Almeida Martins, Nardênio
Data de Publicação: 2008
Tipo de documento: Artigo
Idioma: por
Título da fonte: Acta scientiarum. Technology (Online)
Texto Completo: http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/2786
Resumo: 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
id UEM-6_928ab4fcefe121c3c54f5f32c56808e4
oai_identifier_str oai:periodicos.uem.br/ojs:article/2786
network_acronym_str UEM-6
network_name_str Acta scientiarum. Technology (Online)
repository_id_str
spelling Comparative study of robot manipulators control strategies in joint spaceEstudo comparativo de estratégias de controle de robôs manipuladores no espaço de juntasrobô manipuladorseguimento de trajetóriacontrole adaptativoespaço de juntas3.00.00.00-9 EngenhariasDirect 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 estimationEste artigo compara algoritmos de controle adaptativo direto propostos para robôs manipuladores no espaço de juntas. Considera-se o controle de seguimento de alta precisão de robôs manipuladores cuja carga é desconhecida. Compara-se um controlador adaptativo proposto com duas versões de controladores adaptativos diretos. As duas versões de métodos de controle adaptativo direto são aquelas propostas por Craig e por Slotine e Li (Spong, 1996). Cada método de controle adaptativo direto tem sido simulado com as mesmas trajetórias, e o desempenho é avaliado baseando-se no comportamento da dinâmica de erro, na precisão do seguimento de trajetória e na estimação de parâmetrosUniversidade Estadual De Maringá2008-05-05info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/278610.4025/actascitechnol.v23i0.2786Acta Scientiarum. Technology; Vol 23 (2001); 1469-1480Acta Scientiarum. Technology; v. 23 (2001); 1469-14801806-25631807-8664reponame:Acta scientiarum. Technology (Online)instname:Universidade Estadual de Maringá (UEM)instacron:UEMporhttp://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/2786/1843Almeida Martins, Nardênioinfo:eu-repo/semantics/openAccess2024-05-17T13:02:50Zoai:periodicos.uem.br/ojs:article/2786Revistahttps://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/indexPUBhttps://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/oai||actatech@uem.br1807-86641806-2563opendoar:2024-05-17T13:02:50Acta scientiarum. Technology (Online) - Universidade Estadual de Maringá (UEM)false
dc.title.none.fl_str_mv Comparative study of robot manipulators control strategies in joint space
Estudo comparativo de estratégias de controle de robôs manipuladores no espaço de juntas
title Comparative study of robot manipulators control strategies in joint space
spellingShingle Comparative study of robot manipulators control strategies in joint space
Almeida Martins, Nardênio
robô manipulador
seguimento de trajetória
controle adaptativo
espaço de juntas
3.00.00.00-9 Engenharias
title_short Comparative study of robot manipulators control strategies in joint space
title_full Comparative study of robot manipulators control strategies in joint space
title_fullStr Comparative study of robot manipulators control strategies in joint space
title_full_unstemmed Comparative study of robot manipulators control strategies in joint space
title_sort Comparative study of robot manipulators control strategies in joint space
author Almeida Martins, Nardênio
author_facet Almeida Martins, Nardênio
author_role author
dc.contributor.author.fl_str_mv Almeida Martins, Nardênio
dc.subject.por.fl_str_mv robô manipulador
seguimento de trajetória
controle adaptativo
espaço de juntas
3.00.00.00-9 Engenharias
topic robô manipulador
seguimento de trajetória
controle adaptativo
espaço de juntas
3.00.00.00-9 Engenharias
description 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
publishDate 2008
dc.date.none.fl_str_mv 2008-05-05
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/2786
10.4025/actascitechnol.v23i0.2786
url http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/2786
identifier_str_mv 10.4025/actascitechnol.v23i0.2786
dc.language.iso.fl_str_mv por
language por
dc.relation.none.fl_str_mv http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/2786/1843
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universidade Estadual De Maringá
publisher.none.fl_str_mv Universidade Estadual De Maringá
dc.source.none.fl_str_mv Acta Scientiarum. Technology; Vol 23 (2001); 1469-1480
Acta Scientiarum. Technology; v. 23 (2001); 1469-1480
1806-2563
1807-8664
reponame:Acta scientiarum. Technology (Online)
instname:Universidade Estadual de Maringá (UEM)
instacron:UEM
instname_str Universidade Estadual de Maringá (UEM)
instacron_str UEM
institution UEM
reponame_str Acta scientiarum. Technology (Online)
collection Acta scientiarum. Technology (Online)
repository.name.fl_str_mv Acta scientiarum. Technology (Online) - Universidade Estadual de Maringá (UEM)
repository.mail.fl_str_mv ||actatech@uem.br
_version_ 1799315332510253056

Registros relacionados