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Dynamic tracking and friction compensation in a 3R underactuated manipulator

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Title Dynamic tracking and friction compensation in a 3R underactuated manipulator
 
Creator MAHULKAR, V
GANDHI, PS
BANAVAR, RN
 
Subject nonholonomic systems
underactuated manipulator
3r robot
 
Description We present investigations in point-to-point control the endpoint of an underactuated 3R manipulator with unactuated last link. This point-to-point control problem is transformed into a trajectory tracking problem for the joint of the last link. This trajectory is composed of several segments of special kind based on a recent development in this field. In this paper we present a control techniques to generate the appropriate torques at the actuated joints through a modified computed torque approach to carry out this dynamic trajectory tracking. The proposed methodology incorporates the effect of third link on the actuated subsystem. Later we incorporate friction in the joints and using an adaptive control strategy, we improve on the earlier result. The simulation results verify the effectiveness of the proposed algorithm, and the experimental verification is underway.
 
Publisher ACTA PRESS
 
Date 2011-10-26T18:03:04Z
2011-12-15T09:12:27Z
2011-10-26T18:03:04Z
2011-12-15T09:12:27Z
2004
 
Type Proceedings Paper
 
Identifier Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control,234-240
0-88986-371-7
http://dspace.library.iitb.ac.in/xmlui/handle/10054/16082
http://hdl.handle.net/100/2670
 
Source 23rd IASTED International Conference on Modelling, Identification and Control,Grindelwald, SWITZERLAND,FEB 23-25, 2004
 
Language English