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Task-Space Tracking Control of Robotic Manipulator Via Intermittent Controller

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Abstract

An intermittent controller for robotic manipulator in task space was developed in this paper. In task space, for given a desired time-varying trajectory, the robot end-effector can track the desired target under the designed intermittent controller. Different from most of the existing works on control of robotic manipulator, the intermittent control for robotic manipulator is discussed in task space instead of joint space. Besides, the desired trajectory can be time-varying and not limited to constant. As a direct application, the authors implemented the proposed controller on tracking of a two-link robotic manipulator in task space. Numerical simulations demonstrate the effectiveness and feasibility of the proposed intermittent control strategy.

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Authors and Affiliations

  1. School of Mathematics and Statistics, Minnan Normal University, Zhangzhou, 363000, China

    Mihua Ma & Jianping Cai

Authors
  1. Mihua Ma
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  2. Jianping Cai
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Correspondence to Mihua Ma or Jianping Cai.

Additional information

This research was supported by the National Natural Science Foundation of China under Grant No. 61603174, and the Natural Science Foundation of Fujian under Grant No. 2020J01793.

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Ma, M., Cai, J. Task-Space Tracking Control of Robotic Manipulator Via Intermittent Controller. J Syst Sci Complex 35, 2248–2262 (2022). https://doi.org/10.1007/s11424-022-1139-z

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  • DOI: https://doi.org/10.1007/s11424-022-1139-z

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