Output Track Controller with Gravitational Compensation for a Class of Hyper-Redundant Robot Arms

Mihaela FLORESCU, Van Dong Hai NGUYEN, Mircea IVĂNESCU
University of Craiova, 13 Al. I. Cuza Street, Craiova, 200585, Romania
mihaelaflorescu@yahoo.com, florescu.mihaela@ucv.ro,
donghai.spkt@gmail.com, ivanescu@robotics.ucv.ro

Abstract: The paper studies the output tracking control problem of a class of hyper-redundant robotic arms described by hyperbolic equations. The stability analysis and the resulting controllers are obtained by using the concept of boundary geometric control and an output tracking technique. A conventional PD control is proposed and analysed. Then, for a dynamic model with uncertain components, a robust algorithm is discussed. The output stability is analysed. Numerical simulations are also provided to verify the effectiveness of the approach presented.

Keywords: Hyper-redundant arm, gravitational compensation, controller.

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CITE THIS PAPER AS:
Mihaela FLORESCU, Van Dong Hai NGUYEN, Mircea IVĂNESCU, Output Track Controller with Gravitational Compensation for a Class of Hyper-Redundant Robot Arms, Studies in Informatics and Control, ISSN 1220-1766, vol. 24 (3), pp. 309-316, 2015. https://doi.org/10.24846/v24i3y201507