Contouring control of 5-DOF manipulator robot arm based on equivalent errors

Thanana Nuchkrua, Shou Yen Chang, Shyh Leh Chen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

This paper is concerned with the contouring control problem of 5-DOF manipulator robot arm using the equivalent error technique. The proposed technique, equivalent errors, shows the performance for the manipulator robot arm. A desired path usually is described in terms of the position of the end-effector of the manipulator robot, but the dynamical system is described in generalized coordinates. The equivalent errors technique utilizes the forward kinematics to transform the desired path in the task space into that in the joint space. The equivalent errors technique can be easily defined for such that. The simulation results demonstrate the excellent performance of the proposed technique.

Original languageEnglish
Title of host publicationCACS 2015 - 2015 CACS International Automatic Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages48-53
Number of pages6
ISBN (Electronic)9781467365734
DOIs
StatePublished - 11 Jan 2016
Externally publishedYes
Event9th International Automatic Control Conference, CACS 2015 - Yilan, Taiwan, Province of China
Duration: 18 Nov 201520 Nov 2015

Publication series

NameCACS 2015 - 2015 CACS International Automatic Control Conference

Conference

Conference9th International Automatic Control Conference, CACS 2015
CountryTaiwan, Province of China
CityYilan
Period18/11/1520/11/15

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