Author:
Burg T.,Dawson D.,Vedagarbha P.
Abstract
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.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
29 articles.
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