Abstract
Cartesian robot control is an appealing scheme because it avoids the computation of inverse kinematics, in contrast to joint robot control approach. For tracking, high computational load is typically required to obtain Cartesian robot dynamics. In this paper, an alternative approach for Cartesian tracking is proposed under assumption that robot dynamics is unknown and the Jacobian are uncertain. A neuro-sliding second order mode controller delivers a low dimensional neural network, which roughly estimates inverse robot dynamics, and an inner smooth control loop guarantees exponential tracking. Experimental results are presented to confirm the performance in a real time environment.
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Recommended by Editorial Board member Youngjin Choi under the direction of Editor Jae-Bok Song.
Rodolfo García-Rodríguez has his B.S. degree in Industrial Electronic Engineering from the Instituto Tecnológico de Puebla in 1997. He received his M.S. and Ph.D. degrees from the Research Center for Advanced Studies (CINVESTAV) in 2002 and 2005, respectively. From 1998–2000 he was with Gates Rubber de México as an Engineer in the Engineering Department. Currently, he is a Professor at Universidad de los Andes, Chile in the Facultad de Ingeniería y Ciencias Aplicadas. His research interests include robotic hands, control theory and mechatronic systems.
Vicente Parra-Vega received his B.Eng. degree in Control and Computing and his B.Eng. degree in Electronics and Communications, both from the Nuevo León University, Nuevo León, México, in 1987, and an M.Sc. degree in Automatic Control from the Research Center for Advanced Studies (CINVESTAV), San Pedro Zacatenco, México, in 1989, and a Ph.D. degree in Electrical Engineering from the Mathematical Engineering and Information Physics Department of the University of Tokyo, Tokyo, Japan in 1995, under the supervision of Prof. S. Arimoto. Currently, he is a Full Professor at the CINVESTAV. His current research interests include collaborative multirobots, high-precision servosystems, haptic interfaces, control theory, visual servoing, teleoperators, high-speed CNC, and unmanned aerial and submarine robots. He is the leading cofounder of two new postgraduate programmes in Mexico, the first one in Mechatronics and the second one in Robotics and Advanced Manufacturing. Prof. Parra-Vega is a Regular Member of the Mexican Academy of Science, the National Researcher System, and from 1997, he has participated in several committees of the Mexican Council for Science and Technology.
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García-Rodríguez, R., Parra-Vega, V. Task-space neuro-sliding mode control of robot manipulators under Jacobian uncertainties. Int. J. Control Autom. Syst. 9, 895–904 (2011). https://doi.org/10.1007/s12555-011-0510-y
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DOI: https://doi.org/10.1007/s12555-011-0510-y