Regulation of manipulators in generic task space: an energy shaping plus damping injection approach

Author

Kelly, Rafael

Author_Institution

Div. de Fisica Aplicada, CICESE, Ensenada, Mexico

Volume

15

Issue

2

fYear

1999

fDate

4/1/1999 12:00:00 AM

Firstpage

381

Lastpage

386

Abstract

The position control of robot manipulators in generic task space is addressed in this paper. The main ingredient in the formulation is the use of the task function concept which includes as particular cases the task specifications in joint and Cartesian spaces. The main theoretical contribution is a novel stability analysis of a wide class of robot regulators based in energy shaping plus damping injection. We also provide sufficient conditions to design effective regulators. This approach is illustrated via experimental tests on a direct drive arm where specifications are given in Cartesian and image-based task spaces, respectively

Keywords

control system analysis; control system synthesis; damping; manipulators; stability; Cartesian space; Cartesian task spaces; damping injection; direct drive arm; effective regulator design; energy shaping; generic task space; image-based task spaces; joint space; manipulator regulation; position control; stability analysis; task function; task specifications; Damping; Manipulator dynamics; Orbital robotics; Position control; Potential energy; Regulators; Robot kinematics; Stability analysis; Sufficient conditions; Visual servoing;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.760361

Filename

760361