IDEAS home Printed from https://ideas.repec.org/a/hin/jnlmpe/8314202.html
   My bibliography  Save this article

Trajectory Tracking Control of Robot Manipulators Based on U-Model

Author

Listed:
  • Xianghua Ma
  • Yang Zhao
  • Yiqun Di

Abstract

A new trajectory tracking control method based on the U-model is proposed to improve the trajectory tacking speed of robot manipulators. The U-model method is introduced to relieve the requirement of the dynamic mathematical model and make the design of trajectory tracking controller of robot manipulators simpler. To further improve the trajectory tacking speed, an improved iterative learning control algorithm is used to suppress the influence of the initial state error with less computation time. Experimental results show that the proposed control method is effective and practical for the trajectory tracking control of robot manipulators, especially with a high real-time requirement.

Suggested Citation

  • Xianghua Ma & Yang Zhao & Yiqun Di, 2020. "Trajectory Tracking Control of Robot Manipulators Based on U-Model," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-10, May.
    • Handle: RePEc:hin:jnlmpe:8314202
    DOI: 10.1155/2020/8314202
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/MPE/2020/8314202.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/MPE/2020/8314202.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2020/8314202?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlmpe:8314202. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.