Pascal´s Cartesian controller

Author

Sánchez-Sánchez, Pablo ; Reyes-Cortés, Fernando

Author_Institution

FCE, Autonomous Univ. of Puebla, Mexico

Volume

1

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

94

Abstract

The main objective of this paper is to propose a new controller for robot manipulators on Cartesian coordinates with formal confirmation of stability, to verify its performance comparing it with the Cartesian PD controller. In this paper we describe an experimental Cartesian robot for research and development of robot control algorithms. This system allows the development and easy test of Cartesian control strategies on three degrees of freedom. The functionality of this system is explained via real-time experimental results of a new position Cartesian control algorithm with global asymptotic stability of the closed-loop system.

Keywords

PD control; asymptotic stability; closed loop systems; manipulators; position control; Cartesian PD controller; Cartesian coordinates; Pascal Cartesian controller; closed-loop system; experimental Cartesian robot; formal stability confirmation; global asymptotic stability; position Cartesian control algorithm; robot control algorithms; robot manipulators; Automatic control; Control systems; Jacobian matrices; Lagrangian functions; Manipulator dynamics; Mathematical model; Orbital robotics; Position control; Robot control; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626529

Filename

1626529