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Nonlinear Control of a Robot Manipulator with a Nonholonomic Jerk Constraint
Author(s) -
RubioHervas Jaime,
Reyhanoglu Mahmut
Publication year - 2016
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1254
Subject(s) - revolute joint , jerk , nonholonomic system , control theory (sociology) , constraint (computer aided design) , lagrange multiplier , nonlinear system , robot , engineering , mathematics , computer science , control (management) , mathematical optimization , mobile robot , physics , artificial intelligence , classical mechanics , acceleration , mechanical engineering , quantum mechanics
We study the control of a prismatic‐prismatic‐revolute (PPR) robot manipulator subject to a nonholonomic jerk constraint, i.e., a third‐order nonintegrable design constraint. The mathematical model is obtained using the method of Lagrange multipliers. The control inputs are two forces and a torque applied to the prismatic joints and the revolute joint, respectively. The control objective is to control the robot end‐effector movement while keeping the transverse jerk component as zero. The main result of the paper is the construction of a feedback control algorithm that transfers the manipulator from any initial equilibrium configuration to the zero equilibrium configuration in finite time. The effectiveness of the algorithm is illustrated through a simulation example.