Abstract
Abstract In this study, we propose the sensorless positioning control of a two-link robot arm. In order to realize a good sensorless control, we propose to use the parameter adaptive identifier to system with the uncertainties of the coil in the actuator. Also, we use sliding mode control theory to remove the terms of the nonlinear parameters generated by the links mechanism, the nonlinear friction in the gear trains in the joints and the parameter variations caused by handle loads. The proposed control strategy has a good robust performance against these uncertainties. As these results, we have verified the effectiveness of sensorless positioning control by simulations and experiments.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.