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Source CiteSeerX
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Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Trajectory Tracking ♦ Unstructured Uncertainty ♦ Robotic Manipulator ♦ Robust Adaptive Control ♦ Simulation Result ♦ Two-link Scara Manipulator ♦ Impulse Disturbance
Abstract Abstract−This paper deals with design of a robust adaptive control (RAC) of robotic manipulators for trajectory tracking with structured and unstructured uncertainties. This controller has been used for evaluation of tracking error and time of settlement of output and desired output has been compared. Simulation results on a two-link SCARA manipulator are shown for trajectory tracking in the presence of the impulse disturbance.
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study