A new Cartesian controller for robot manipulators

Author

Sánchez-Sánchez, Pablo ; Reyes-Cortés, Fernando

Author_Institution

Posgrado en Automatization, Autonomous Univ. of Puebla, Mexico

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

3733

Lastpage

3739

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; manipulator dynamics; Cartesian PD controller; Cartesian coordinates; Cartesian robot; DRILL-BOT; Jacobian transposed controller; asymptotic stability; closed-loop system; robot control; robot manipulators; Automatic control; Control systems; Jacobian matrices; Lagrangian functions; Manipulator dynamics; Mathematical model; Orbital robotics; Robot control; Robot kinematics; Robotics and automation; Artificial Potential Energy; Cartesian Controller; DRILL-BOT; Energy Shaping; Jacobian Transposed Controller; Performance Index;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545518

Filename

1545518