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Full-Text Articles in Computer Engineering

Globally Optimal Periodic Robot Joint Trajectories, Daniel J. Simon Sep 1996

Globally Optimal Periodic Robot Joint Trajectories, Daniel J. Simon

Electrical Engineering & Computer Science Faculty Publications

This paper presents a new method for the planning of robot trajectories. The method presented assumes that joint-space knots have been generated from Cartesian knots by an inverse kinematics algorithm. The method is based on the globally optimal periodic interpolation scheme derived by Schoenberg, and thus is particularly suited for periodic robot motions. Of all possible periodic joint trajectories which pass through a specified set of knots, the trajectory derived in this paper is the ‘best’. The performance criterion used is the integral (over one period) of a combination of the square of the joint velocity and the square of ...


Terminal Sliding Mode Control For Rigid Robotic Manipulators With Uncertain Dynamics, Nicola Ritter Jan 1996

Terminal Sliding Mode Control For Rigid Robotic Manipulators With Uncertain Dynamics, Nicola Ritter

Theses: Doctorates and Masters

This thesis presents two new adaptive control laws that use the terminal sliding mode technique for the tracking problem of rigid robotic manipulators with non-linearities, dynamic couplings and uncertain parameters. The first law provides a robust scheme which uses several properties of rigid robotic mauipulators and adaptively adjusts seven uncertain parameter bounds. The law ensures finite time error convergence to the system origin and is simple to implement The second law treats the manipulator as a partially known system. The known dynamics are used to build a nominal control law and the effects of unknown system dynamics arc compensated for ...