Abstract
Robots have become an integral part of industrial automation. Their ultimate role and contribution in this sector is essentially a function of the associated control strategy to ensure precision, repeatability, and reliability, particularly in an environment polluted with disturbances and uncertainties. This research aims to present a design of the modern control strategies for a 6 degree of freedom robotic manipulator. Based on derived kinematic and dynamic models of the robot, optimal and robust control strategies are simulated and practically realized on a custom developed pseudo-industrial framework named as AUTonomous Articulated Robotic Educational Platform. Results of the experimental trials in terms of trajectory tracking demonstrate efficiency and usefulness of the presented control approaches.
Originalsprog | Engelsk |
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Tidsskrift | Cybernetics and Systems |
Vol/bind | 49 |
Udgave nummer | 1 |
Sider (fra-til) | 77-93 |
Antal sider | 17 |
ISSN | 0196-9722 |
DOI | |
Status | Udgivet - 2 jan. 2018 |