High-Accuracy Tracking Control of Robot Manipulators Using Time Delay Estimation and Terminal Sliding Mode

International Journal of Advanced Robotic Systems

关键词: High-accuracy tracking control;    robot manipulators;    time delay estimation;    terminal sliding mode;   

DOI  :  10.5772/45687

学科分类：自动化工程

来源: InTech

【 摘 要 】

A time delay estimation based general framework for trajectory tracking control of robot manipulators is presented. The controller consists of three elements: a time-delay-estimation element that cancels continuous nonlinearities of robot dynamics, an injecting element that endows desired error dynamics, and a correcting element that suppresses residual time delay estimation error caused by discontinuous nonlinearities. Terminal sliding mode is used for the correcting element to pursue fast convergence of the time delay estimation error. Implementation of proposed control is easy because calculation of robot dynamics including friction is not required. Experimental results verify high-accuracy trajectory tracking of industrial robot manipulators.

【 授权许可】

CC BY