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Adaptive backstepping control for parallel robot with uncertainties in dynamics and kinematics

Published online by Cambridge University Press:  07 October 2014

Jing Zou  and
John K. Schueller
Jing Zou
Affiliation:
Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL 32611, USA
John K. Schueller*
Affiliation:
Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL 32611, USA
*
*Corresponding author. E-mail: schuejk@ufl.edu
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Summary

It is common in robot tracking control that controllers are designed based on the exact kinematic model of the robot manipulator. However, because of measurement errors and changes of states in practice, the original kinematic model is often no longer accurate and will degrade the control result. An adaptive backstepping controller is designed here for parallel robot systems with kinematics and dynamics uncertainties. Backstepping control is used to manage the transformation between the errors in task space and joint space. Adaptive control is utilized to compensate for uncertainties in both dynamics and kinematics. The controller demonstrated good performance in simulation.

Keywords

Parallel robotsAdaptive controlBackstepping controlDynamicsRobot kinematicsTracking controlUncertainty
Type
Articles
Information
Robotica , Volume 32 , Issue 6 , September 2014 , E1
Copyright
Copyright © Cambridge University Press 2014 

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