Output Track Controller with Gravitational Compensation for a Class of Hyper-Redundant Robot Arms | Zendy

Mihaela Florescu | Zendy; Van-Dong-Hai Nguyen | Zendy; Mircea Ivănescu | Zendy

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Output Track Controller with Gravitational Compensation for a Class of Hyper-Redundant Robot Arms

Author(s) -

Mihaela Florescu,

Van-Dong-Hai Nguyen,

Mircea Ivănescu

Publication year - 2015

Publication title -

studies in informatics and control

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.321

H-Index - 22

eISSN - 1841-429X

pISSN - 1220-1766

DOI - 10.24846/v24i2y201508

Subject(s) - computer science , track (disk drive) , compensation (psychology) , robot , class (philosophy) , controller (irrigation) , artificial intelligence , gravitation , computer vision , control theory (sociology) , simulation , real time computing , physics , classical mechanics , control (management) , operating system , psychology , psychoanalysis , agronomy , biology

The paper studies the output tracking control problem of a class of hyper-redundant robotic arms described by hyperbolic equations. The stability analysis and the resulting controllers are obtained by using the concept of boundary geometric control and an output tracking technique. A conventional PD control is proposed and analysed. Then, for a dynamic model with uncertain components, a robust algorithm is discussed. The output stability is analysed. Numerical simulations are also provided to verify the effectiveness of the approach presented.

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