Study on path tracking control of robot manipulators with unknown payload

Yong-duan SONG; Wei-bing GAO; Mian CHENG

doi:10.1109/ICSYSE.1989.48682

Study on path tracking control of robot manipulators with unknown payload

Yong-duan SONG^*
, Wei-bing GAO
, Mian CHENG

^*Corresponding author for this work

Research output: Other Conference Contributions › Conference Paper (other) › Research › peer-review

3 Citations (Scopus)

Abstract

The path tracking control problem of robot manipulators carrying unknown payloads is studied on the basis of the payload-dependent robot model and its structural properties. The nonlinear payload-dependent dynamic model of a robot manipulator is derived, and several structure properties of this model are investigated. On the basis of these properties, a path tracking control strategy is presented. It is shown that the presented strategy not only compensates for the effects of couplings, nonlinearities, and payload uncertainty, but also guarantees tracking convergence.

Original language	English
Pages	321-324
Number of pages	4
DOIs	https://doi.org/10.1109/ICSYSE.1989.48682
Publication status	Published - Aug 1989
Externally published	Yes
Event	IEEE International Conference on Systems Engineering 1989 - Fairborn, United States Duration: 24 Aug 1989 → 26 Aug 1989

Conference

Conference	IEEE International Conference on Systems Engineering 1989
Country/Territory	United States
City	Fairborn
Period	24/08/89 → 26/08/89

Access to Document

10.1109/ICSYSE.1989.48682

Cite this

@conference{7d2f352b872847feb63545b11a45f5d4,

title = "Study on path tracking control of robot manipulators with unknown payload",

abstract = "The path tracking control problem of robot manipulators carrying unknown payloads is studied on the basis of the payload-dependent robot model and its structural properties. The nonlinear payload-dependent dynamic model of a robot manipulator is derived, and several structure properties of this model are investigated. On the basis of these properties, a path tracking control strategy is presented. It is shown that the presented strategy not only compensates for the effects of couplings, nonlinearities, and payload uncertainty, but also guarantees tracking convergence.",

author = "Yong-duan SONG and Wei-bing GAO and Mian CHENG",

year = "1989",

month = aug,

doi = "10.1109/ICSYSE.1989.48682",

language = "English",

pages = "321--324",

note = "IEEE International Conference on Systems Engineering 1989 ; Conference date: 24-08-1989 Through 26-08-1989",

}

TY - CONF

T1 - Study on path tracking control of robot manipulators with unknown payload

AU - SONG, Yong-duan

AU - GAO, Wei-bing

AU - CHENG, Mian

PY - 1989/8

Y1 - 1989/8

N2 - The path tracking control problem of robot manipulators carrying unknown payloads is studied on the basis of the payload-dependent robot model and its structural properties. The nonlinear payload-dependent dynamic model of a robot manipulator is derived, and several structure properties of this model are investigated. On the basis of these properties, a path tracking control strategy is presented. It is shown that the presented strategy not only compensates for the effects of couplings, nonlinearities, and payload uncertainty, but also guarantees tracking convergence.

AB - The path tracking control problem of robot manipulators carrying unknown payloads is studied on the basis of the payload-dependent robot model and its structural properties. The nonlinear payload-dependent dynamic model of a robot manipulator is derived, and several structure properties of this model are investigated. On the basis of these properties, a path tracking control strategy is presented. It is shown that the presented strategy not only compensates for the effects of couplings, nonlinearities, and payload uncertainty, but also guarantees tracking convergence.

UR - https://www.scopus.com/pages/publications/0024903250

U2 - 10.1109/ICSYSE.1989.48682

DO - 10.1109/ICSYSE.1989.48682

M3 - Conference Paper (other)

AN - SCOPUS:0024903250

SP - 321

EP - 324

T2 - IEEE International Conference on Systems Engineering 1989

Y2 - 24 August 1989 through 26 August 1989

ER -

Study on path tracking control of robot manipulators with unknown payload

Abstract

Conference

Access to Document

Other files and links

Fingerprint

Cite this