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Dedicated Nonlinear Control of Robot Manipulators in the Presence of External Vibration and Uncertain Payload

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Department of Electrical Engineering, Salahaddin University-Erbil, Erbil 44002, Kurdistan Region, Iraq
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Department of Computer Science and Engineering, University of Kurdistan Hewler, Erbil 44001, Kurdistan Region, Iraq
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Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL 32611, USA
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Author to whom correspondence should be addressed.
Robotics 2020, 9(1), 2; https://doi.org/10.3390/robotics9010002
Received: 19 November 2019 / Revised: 28 December 2019 / Accepted: 29 December 2019 / Published: 1 January 2020
Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This paper presents two approaches to solve this problem. The approaches consider joint space tracking control design in the presence of nonlinear uncertain torques caused by external vibration and payload variation. The properties of the uncertain torques are used in both approaches. The first approach is based on the boundedness property, while the second approach considers the differentiability and boundedness together. The controllers derived from each approach differ from the perspectives of accuracy, control effort, and disturbance properties. A Lyapunov-based analysis is utilized to guarantee the stability of the control design in each case. Simulation results validate the approaches and demonstrate the performance of the controllers. The derived controllers show stable results at the cost of the mentioned properties.
Keywords: robot control; uncertain torque; nonlinear control; manipulator robot control; uncertain torque; nonlinear control; manipulator
MDPI and ACS Style

Mustafa, M.M.; Hamarash, I.; Crane, C.D. Dedicated Nonlinear Control of Robot Manipulators in the Presence of External Vibration and Uncertain Payload. Robotics 2020, 9, 2.

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