Dynamic Filtered Path Tracking Control for a 3RRR Robot Using Optimal Recursive Path Planning and Vision-Based Pose Estimation

Dynamic Filtered Path Tracking Control for a 3RRR Robot Using Optimal Recursive Path Planning and Vision-Based Pose Estimation

This study proposes a dynamic filtered path tracking control schema for a 3RRR planar parallel robot to reduce the positioning errors caused by various sources such as backlash in the mechanical system, system nonlinearities, uncertainties, and unknown disturbances. The optimal recursive algorithm i...

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Bibliographic Details
Main Authors: Ba-Phuc Huynh, Yong-Lin Kuo
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
3RRR planar parallel robot
dynamic filtered path tracking control
optimal recursive path planning
vision-based pose estimation
unscented Kalman filter
Online Access:https://ieeexplore.ieee.org/document/9203850/

Internet

https://ieeexplore.ieee.org/document/9203850/

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