A robot manipulator dynamic modeling and linearizing control

机译：机器人机械手的动力学建模和线性化控制

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This paper presents a robot manipulator trajectory tracking based on a computed torque control and a linearizing Command with disturbance observer. The goal to reach in this paper is to improve the performances of a robot manipulator computed torque control by using the linearizing control with disturbance observer which estimates the disturbance acting on robot machine operating the robot. Simulation results on a three -degrees- of-freedom robot case.It demonstrates a high performance using the proposed control law.

机译：本文提出了一种基于机器人的机械手轨迹跟踪，该算法基于计算出的转矩控制和带有干扰观测器的线性化Command。本文的目标是通过使用带有干扰观测器的线性化控制来改善机器人操纵器计算出的转矩控制的性能，该线性化控制可估计作用在操作机器人的机器人机器上的干扰。在三自由度机器人案例上的仿真结果，通过提出的控制定律证明了其高性能。

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来源
《2014 International Conference on Electrical Sciences and Technologies in Maghreb》|2014年|1-5|共5页
会议地点 Tunis(TN)
作者
Awatef Azaza; Mouna Ben Hamed; Sbita Lassaad;
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Nat. Eng. Sch. Gabes, Univ. of Gabes, Gabes, Tunisia;

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正文语种 eng
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机译：基于黎曼空间动力学模型的机械手路径控制与仿真。二。 PUMA-560机械手动态特性的仿真结果和实验研究
2. ROBUST NONLINEAR CONTROL OF ROBOT MANIPULATOR WITH UNCERTAINTIES IN KINEMATICS, DYNAMICS AND ACTUATOR MODELS [J] . Mohammad Reza Soltanpour, Jafaar Khalilpour, Mahmoodreza Soltani International Journal of Innovative Computing Information and Control . 2012,第8期

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3. Nonlinear robust control design for robot manipulators with unmodeled actuator dynamics [J] . JOSEPH KALOUST, ZHIHUA QU, CHANHO HAM Advanced Robotics . 1996,第4期

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4. Comparison of linearized dynamic robot manipulator models for model predictive control [C] . Jonathan S. Terry, Levi Rupert, Marc D. Killpack IEEE-RAS International Conference on Humanoid Robotics . 2017

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5. DYNAMIC MODELING AND CONTROL OF ROBOTIC MANIPULATORS (ROBOTICS, CONTROL ENGINEERING, NONLINEAR CONTROL). [D] . TOURASSIS, VASSILIOS DIMITRIOS. 1985

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8. Dynamic modeling, property investigation, and adaptive controller design of serial robotic manipulators modeled with structural compliance [R] . Tesar, Delbert, Tosunoglu, Sabri, Lin, Shyng-Her 1990

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A robot manipulator dynamic modeling and linearizing control

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