Contour tracking of a redundant robot using integral variable structure control with output feedback

Chih Jer Lin; Kai Sheng Lee

doi:10.1007/s10846-010-9461-4

Contour tracking of a redundant robot using integral variable structure control with output feedback

Chih Jer Lin
, Kai Sheng Lee

自動化科技研究所

研究成果: 期刊貢獻 › 文章 › 同行評審

3 引文斯高帕斯（Scopus）

摘要

This work examines the contour tracking problem of redundant robot on a path with singularity. Using an optimal quadratic programming method is to solve the singularity problem and the computing load of motion planning is reduced by a novel hybrid motion planning method. To achieve contour tracking with output feedback, an integral sliding mode control with a high-gain observer is employed to eliminate the chattering due to discontinuous switching control of the sliding-mode control and maintain robustness of the ideal sliding mode.

原文	English
頁（從 - 到）	241-270
頁數	30
期刊	Journal of Intelligent and Robotic Systems: Theory and Applications
卷	62
發行號	2
DOIs	https://doi.org/10.1007/s10846-010-9461-4
出版狀態	Published - 5月 2011

文獻附註

Funding Information:
Acknowledgements The author would like to thank the National Science Council of the Republic China for the support of this work under the Grant No. NSC92-2212-E-212-020. Ted Knoy is appreciated for his editorial assistance.

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Contour tracking of a redundant robot using integral variable structure control with output feedback

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