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Task-space neuro-sliding mode control of robot manipulators under Jacobian uncertainties

  • Rodolfo García-Rodríguez
  • Vicente Parra-Vega
Regular Papers Robotics and Automation

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.

Keywords

Cartesian sliding mode control motion control tracking robots uncertain kinematics 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg  2011

Authors and Affiliations

  • Rodolfo García-Rodríguez
    • 1
  • Vicente Parra-Vega
    • 2
  1. 1.Facultad de Ingeniería y Ciencias AplicadasUniversidad de los AndesLas Condes, SantiagoChile
  2. 2.Robotics and Advanced, Manufacturing DivisionCINVESTAVCampus SaltilloMéxico

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