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Engineering Review : International journal for publishing of original researches from the aspect of structural analysis, materials and new technologies in the field of mechanical engineering, shipbuilding, fundamental engineering sciences, computer sciences, electrical engin, Vol. 26 No. 1-2, 2006.

Original scientific paper

IMPROVEMENT OF ROBOT TRAJECTORY TRACKING BY USING NONLINEAR CONTROL METHODS

Vesna Krajči ; Faculty of Engineering, University of Rijeka, Rijeka, Croatia
Nino Stojković orcid id orcid.org/0000-0001-9343-1739 ; Faculty of Engineering, University of Rijeka, Rijeka, Croatia

Full text: croatian pdf 296 Kb

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Full text: english pdf 296 Kb

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Abstract

This paper presents the following nonlinear control methods: fuzzy control and different variations on variable-structure control with a sliding mode. These control methods are used in simulations for improvement of trajectory tracking for the three-axis planar articulated robot arm. The quality of robot trajectory tracking is tested in simulations with robot parameter change, complex external disturbances and measurement noise. The simulation results proved robustness of all presented nonlinear methods for robot control.

Keywords

robotic system, fuzzy control; sliding-mode control; variable-structure; control; robustness

Hrčak ID:

28392

URI

https://hrcak.srce.hr/28392

Publication date:

27.12.2006.

Article data in other languages: croatian

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