A redesigned DCAL controller without velocity measurements: Theory and demonstration

被引：33

作者：

Burg, T

Dawson, D

Vedagarbha, P

机构：

[1] Dept. of Elec. and Comp. Engineering, 102 Riggs Hall, Clemson Universtiy, Clemson

来源：

ROBOTICA | 1997年 / 15卷 / pt 3期

关键词：

DCAL controller; tracking control; velocity estimation; robots;

D O I：

10.1017/S0263574797000386

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

A link position tracking controller is formulated for an n-link, rigid, revolute, serially-connected robot. The controller generates torque commands to the individual robot links based on adaptive estimates of the system parameters and measurements of only link positions. A filtering technique, based on the link position signal, is used to alleviate the need for velocity measurements. A complete development of the controller is presented along with a proof of semiglobal asymptotic link position-velocity tracking performance. Experimental validation of the proposed controller on the Integrated Motion Inc. (IMI) two-link direct drive robot is also presented. Several extensions to the basic controller are described that consider the use of fixed parameter estimates.

引用

页码：337 / 346

页数：10

共 40 条

[1]

[Anonymous], IEEE INT C ROB AUT

[2] A PASSIVITY APPROACH TO CONTROLLER-OBSERVER DESIGN FOR ROBOTS [J].

BERGHUIS, H ;

NIJMEIJER, H .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1993, 9 (06) :740-754

[3]

Brogliato B., 1990, Proceedings of the 1990 American Control Conference (IEEE Cat. No.90CH2896-9), P2259

[4]

BURG T, 1994, IEEE DECIS CONTR P, P824, DOI 10.1109/CDC.1994.410966

[5]

COLBAUGH R, 1994, IEEE DECIS CONTR P, P1296, DOI 10.1109/CDC.1994.411143

[6]

DEWIT CC, 1991, AUTOMATICA, V27, P859, DOI 10.1016/0005-1098(91)90041-Y

[7] TRAJECTORY TRACKING IN ROBOT MANIPULATORS VIA NONLINEAR ESTIMATED STATE FEEDBACK [J].

DEWIT, CC ;

FIXOT, N ;

ASTROM, KJ .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1992, 8 (01) :138-144

[8] ROBOT CONTROL VIA ROBUST ESTIMATED STATE FEEDBACK [J].

DEWIT, CC ;

FIXOT, N .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1991, 36 (12) :1497-1501

[9] ADAPTIVE-CONTROL OF ROBOT MANIPULATORS VIA VELOCITY ESTIMATED FEEDBACK [J].

DEWIT, CC ;

FIXOT, N .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1992, 37 (08) :1234-1237

[10]

Erlic M., 1992, Proceedings of the 1992 American Control Conference (IEEE Cat. No.92CH3072-6), P1241

← 1 2 3 4 →