Design, implementation and control of a two-link fully-actuated robot capable of online identification of unknown dynamical parameters using adaptive sliding mode controller

Abstract

For years, many manufacturing and production lines use robots to accelerate the manufacture rate and present high quality products. The main objective of these robots is tracking a desired path with the least error, but generally it's impossible to overcome errors entirely due to nonlinearity of dynamic systems and time dependence of the system dynamical… (More)

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