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2007•International Journal of Robotics and AutomationRequires access

APPLICATION AND COMPARISON OF PASSIVITY-BASED AND INTEGRATOR BACKSTEPPING CONTROL METHODS FOR TRAJECTORY TRACKING OF RIGID-LINK ROBOT MANIPULATORS INCORPORATING MOTOR DYNAMICS

Amir Lotfazar, Mohammad Eghtesad

Open publisher page 8 citations

Abstract

In this paper, dynamic equations of motion of a rigid-link non-redundant n-DOF robot manipulator consisting of mechanical arms, all with revolute joints and electrical actuators are considered and application of passivity-based and integrator backstepping techniques for trajectory tracking of the robot in presence of disturbance, friction and uncertainty is studied.

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What this paper is about

In this paper, dynamic equations of motion of a rigid-link non-redundant n-DOF robot manipulator consisting of mechanical arms, all with revolute joints and electrical actuators are considered and application of passivity-based and integrator backstepping techniques for trajectory tracking of the robot in presence of disturbance, friction and uncertainty is studied.

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OpenAlex reports 8 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

In this paper, dynamic equations of motion of a rigid-link non-redundant n-DOF robot manipulator consisting of mechanical arms, all with revolute joints and electrical actuators are considered and application of passivity-based and integrator backstepping techniques for trajectory tracking of the robot in presence of disturbance, friction and uncertainty is studied.

Key concepts: Control theory (sociology), Passivity, Backstepping, Revolute joint, Integrator, Trajectory, Actuator, Computer science

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APPLICATION AND COMPARISON OF PASSIVITY-BASED AND INTEGRATOR BACKSTEPPING CONTROL METHODS FOR TRAJECTORY TRACKING OF RIGID-LINK ROBOT MANIPULATORS INCORPORATING MOTOR DYNAMICS — Research Paper | ScholarLens