DocumentCode
1885056
Title
Sensor based robot control in the presence of uncertainties: bounding the task function tracking errors
Author
Zanne, Philippe ; Morel, Guillaume ; Plestan, Franck
Author_Institution
LSIIT-CNRS, Univ. Strasbourg I, Illkirch, France
Volume
4
fYear
2002
fDate
2002
Firstpage
3775
Abstract
This paper focuses on the design of robust motion rate sensor based control of robots. Considering the widely used task function approach of this problem, we first derive a general condition on the control gains with respect to the uncertainties, so as to guarantee bounded tracking errors. This general result is applied to an example case, consisting of a 2-DOF vision based controller. Experimental results of comparing different control strategies are presented.
Keywords
MIMO systems; computer vision; eigenvalues and eigenfunctions; manipulator dynamics; motion control; robust control; tracking; variable structure systems; MIMO systems; eigenvalues; parametric uncertainties; planar manipulator; robust control; sliding mode control; stability; task function; tracking; visual servoing; Error correction; Motion control; Robot control; Robot sensing systems; Robust control; Robust stability; Sliding mode control; Tracking; Uncertainty; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1014303
Filename
1014303
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