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• W2587688956 abstract "For constrained three-link manipulation robots it is shown how the complexity of controlling anthropomorphic arm-like manipulators can be considerable ameliorated by designing a sliding-mode control. First, a representation singular system model of three-link manipulators is established by employing constrained equations and corresponding descriptions of force restriction. Then sliding-mode control with constrained control inputs for three-link manipulator is expatiated as appropriate. Based on quadratic performance index, the optimal sliding mode switching function for three-link manipulator system is derived and a modified reaching law on the grounds of the singular model is constructed using a power function. Then the sliding mode controller for three-link constrained manipulator is designed using the proposed reaching law. Using PUMA-560 the efficiency of the proposed method is demonstrated via the obtained simulation results." @default.
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• W2587688956 date "2016-10-01" @default.
• W2587688956 modified "2023-09-22" @default.
• W2587688956 title "Overcoming control complexity of constrained three-link manipulator using sliding-mode control" @default.
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• W2587688956 doi "https://doi.org/10.1109/smc.2016.7844565" @default.
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