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
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;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014303
