| Trajectory tracking control based on linear active disturbance rejection controller for 6-DOF robot manipulator |
| G.Qiao; C.Peng; Z.Xu; H.Gao
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| 2019
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| 发表期刊 | High Technology Letters
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| ISSN | 10066748
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| 卷号 | 25期号:4页码:347-354 |
| 摘要 | The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs, non-linearity and strong coupling is studied. Firstly, a dynamical model for the 6-DOF robot manipulator is designed. From the view point of practical engineering, considering the model uncertainties and external disturbances, the robot manipulator is divided into 6 independent joint subsystems, and a linear active disturbance rejection controller(LADRC) is developed to track trajectory for each subsystem respectively. LADRC has few parameters that are easy to be adjusted in engineering. Linear expansion state observer(LESO) as the uncertainty observer is able to estimate the general uncertainties effectively. Eventually, the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments, which is of practical value in engineering application. Copyright by HIGH TECHNOLOGY LETTERS PRESS. |
| 关键词 | Controllers,Disturbance rejection,Flexible manipulators,Industrial robots,Modular robots,Navigation,Numerical methods,Robot applications,State estimation,Trajectories,Uncertainty analysis
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| DOI | 10.3772/j.issn.1006-6748.2019.04.001
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| URL | 查看原文
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| 收录类别 | EI
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| 引用统计 | 正在获取...
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| 文献类型 | 期刊论文
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| 条目标识符 | http://ir.ciomp.ac.cn/handle/181722/63113
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| 专题 | 中国科学院长春光学精密机械与物理研究所
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推荐引用方式
GB/T 7714 |
G.Qiao,C.Peng,Z.Xu,et al. Trajectory tracking control based on linear active disturbance rejection controller for 6-DOF robot manipulator[J]. High Technology Letters,2019,25(4):347-354.
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| APA |
G.Qiao,C.Peng,Z.Xu,&H.Gao.(2019).Trajectory tracking control based on linear active disturbance rejection controller for 6-DOF robot manipulator.High Technology Letters,25(4),347-354.
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| MLA |
G.Qiao,et al."Trajectory tracking control based on linear active disturbance rejection controller for 6-DOF robot manipulator".High Technology Letters 25.4(2019):347-354.
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