(Department seminar no. 40)

Time: May, 19th, 2016, 11:15
Place: room 208 C-3

Speaker: Prof. Mirosław Galicki, University of Zielona Góra

Subject: Robust constraint finite-time control of redundant manipulators

This talk addresses the problem of the accurate task space control subject to finite-time convergence. Dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. Furthermore, the movement is to be accomplished in such a way as to optimize some performance index. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of inverse-free robust controllers consisting of a Jacobian transpose component plus a compensating term, which seem to be effective in counteracting uncertain dynamics, unbounded disturbances and (possible) kinematic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of three revolutekinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers.