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|Title: ||Dynamic tracking and friction compensation in a 3R underactuated manipulator|
|Authors: ||MAHULKAR, V|
|Issue Date: ||2004|
|Publisher: ||ACTA PRESS|
|Citation: ||Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control,234-240|
|Abstract: ||We present investigations in point-to-point control the endpoint of an underactuated 3R manipulator with unactuated last link. This point-to-point control problem is transformed into a trajectory tracking problem for the joint of the last link. This trajectory is composed of several segments of special kind based on a recent development in this field. In this paper we present a control techniques to generate the appropriate torques at the actuated joints through a modified computed torque approach to carry out this dynamic trajectory tracking. The proposed methodology incorporates the effect of third link on the actuated subsystem. Later we incorporate friction in the joints and using an adaptive control strategy, we improve on the earlier result. The simulation results verify the effectiveness of the proposed algorithm, and the experimental verification is underway.|
|Appears in Collections:||Proceedings papers|
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