Control of a three-link planar robot using computed reference error adjustment technique

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Abstract

In this paper, we consider trajectory control for a three-link robot moving in a horizontal plane. The PID joint controllers are first designed to make the overall system overdamped. Based on constructed models for the robot inverse system, an adaptive technique is then applied to iteratively modify the command input so that the robot can follow a desired trajectory with an acceptably small tracking error. Two test trajectories (a straight line and a circle) are chosen, and the simulation results are presented to demonstrate the effectiveness of this approach.

Original languageEnglish (US)
Pages (from-to)48-51
Number of pages4
JournalComputers in Education Journal
Volume5
Issue number1
StatePublished - Jan 1 1995
Externally publishedYes

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