Adaptive variable structure controller of redundant robots with mobile/fixed obstacles avoidance

In this paper, a variable structure adaptive controller is proposed for redundant robot manipulators constrained by moving obstacles. The main objective of the controller is to force the model states of the robot to track those of a chosen reference model. In addition, the controller is designed dir...

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Veröffentlicht in:	Robotics and autonomous systems 2013-06, Vol.61 (6), p.555-564
Hauptverfasser:	Madani, Tarek, Daachi, Boubaker, Benallegue, Abdelaziz
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Adaptive control systems Adaptive structures Constraints Manipulators Mobile obstacle avoidance Obstacles Redundant Redundant robots Reference model Robots Variable structure Variable structure system
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