GLOBAL REGULATION OF ROBOTS USING ONLY POSITION MEASUREMENTS

被引：139

作者：

BERGHUIS, H

NIJMEIJER, H

机构：

[1] UNIV TWENTE,MECHATRON RES CTR TWENTE,DEPT ELECT ENGN,7500 AE ENSCHEDE,NETHERLANDS

[2] UNIV TWENTE,MECHATRON RES CTR TWENTE,DEPT APPL MATH,7500 AE ENSCHEDE,NETHERLANDS

来源：

SYSTEMS & CONTROL LETTERS | 1993年 / 21卷 / 04期

关键词：

ROBOT CONTROL; DYNAMIC COMPENSATOR; LYAPUNOV THEORY;

D O I：

10.1016/0167-6911(93)90071-D

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this note we propose a simple solution to the regulation problem of rigid robots based on the availability of only joint position measurements. The controller consists of two parts: (1) a gravitation compensation, (2) a linear dynamic first-order compensator. The gravitation compensation part can be chosen to be a function of either the actual joint position or the desired joint position. Both possibilities are proved to yield global asymptotic stability. Performance issues of the controller are illustrated in a simulation study of a two degrees-of-freedom robot manipulator.

引用

页码：289 / 293

页数：5

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