A NEW METHOD FOR REJECTION OF UNCERTAINTIES IN THE TRACKING PROBLEM FOR ROBOT MANIPULATORS

Juan A. Méndez, S. Torres, L. Acosta, E. González, V. M. Becerra

Abstract

This paper presents a new strategy for robust tracking in robot manipulators. The aim of the strategy is to reject parametric uncertainties due to model or load disturbances. The basic controller acting on the manipulator is a robust controller designed by Lyapunov’s direct method. Acting on this controller there is an adaptive system responsible for the adaptation of the basic parameter of the robust feedforward term. The performance of the strategy is tested in a Puma-560 manipulator. A comparison with existing techniques is done to verify the efficiency of the presented controller.

References

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Paper Citation


in Harvard Style

A. Méndez J., Torres S., Acosta L., González E. and M. Becerra V. (2006). A NEW METHOD FOR REJECTION OF UNCERTAINTIES IN THE TRACKING PROBLEM FOR ROBOT MANIPULATORS . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 474-477. DOI: 10.5220/0001204404740477


in Bibtex Style

@conference{icinco06,
author={Juan A. Méndez and S. Torres and L. Acosta and E. González and V. M. Becerra},
title={A NEW METHOD FOR REJECTION OF UNCERTAINTIES IN THE TRACKING PROBLEM FOR ROBOT MANIPULATORS},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={474-477},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001204404740477},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A NEW METHOD FOR REJECTION OF UNCERTAINTIES IN THE TRACKING PROBLEM FOR ROBOT MANIPULATORS
SN - 978-972-8865-60-3
AU - A. Méndez J.
AU - Torres S.
AU - Acosta L.
AU - González E.
AU - M. Becerra V.
PY - 2006
SP - 474
EP - 477
DO - 10.5220/0001204404740477