Time-efficient control law for position tracking of robotic arm

Muhammad Shafiq; Hassan Yousef; Muhammad Iqbal

doi:10.1109/ICIEA.2011.5975689

Time-efficient control law for position tracking of robotic arm

Muhammad Shafiq^*, Hassan Yousef, Muhammad Iqbal

^*Corresponding author for this work

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper presents a time-efficient control law for the position tracking of single link robotic arm. The proposed control law can be modified or extended to use for other applications. Global asymptotic stability of the closed-loop is assured based on the Lyapunov function. Computer simulation and laboratory scale experimental results show that set-point tracking is fast compared to that of the standard PD controller. The control and output signals are oscillation free.

Original language	English
Title of host publication	Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
Pages	767-772
Number of pages	6
DOIs	https://doi.org/10.1109/ICIEA.2011.5975689
Publication status	Published - 2011
Event	2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011 - Beijing, China Duration: Jun 21 2011 → Jun 23 2011

Other

Other	2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011
Country/Territory	China
City	Beijing
Period	6/21/11 → 6/23/11

Keywords

Position Tracking
Robot Arm
Time-Efficient Control

ASJC Scopus subject areas

Electrical and Electronic Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1109/ICIEA.2011.5975689

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Shafiq, M , Yousef, H & Iqbal, M 2011, Time-efficient control law for position tracking of robotic arm. in Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011., 5975689, pp. 767-772, 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011, Beijing, China, 6/21/11. https://doi.org/10.1109/ICIEA.2011.5975689

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AB - This paper presents a time-efficient control law for the position tracking of single link robotic arm. The proposed control law can be modified or extended to use for other applications. Global asymptotic stability of the closed-loop is assured based on the Lyapunov function. Computer simulation and laboratory scale experimental results show that set-point tracking is fast compared to that of the standard PD controller. The control and output signals are oscillation free.

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KW - Time-Efficient Control

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BT - Proceedings of the 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011

T2 - 2011 6th IEEE Conference on Industrial Electronics and Applications, ICIEA 2011

Y2 - 21 June 2011 through 23 June 2011

ER -

Time-efficient control law for position tracking of robotic arm

Abstract

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Keywords

ASJC Scopus subject areas

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