Trajectory tracking control based on linear active disturbance rejection controller for 6-DOF robot manipulator

doi:10.3772/j.issn.1006-6748.2019.04.001

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	Trajectory tracking control based on linear active disturbance rejection controller for 6-DOF robot manipulator
	G.Qiao; C.Peng; Z.Xu; H.Gao
	2019
发表期刊	High Technology Letters
ISSN	10066748
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
DOI	10.3772/j.issn.1006-6748.2019.04.001
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收录类别	EI
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/63113
专题	中国科学院长春光学精密机械与物理研究所
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.
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.
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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