Title :
A new Cartesian controller for robot manipulators
Author :
Sánchez-Sánchez, Pablo ; Reyes-Cortés, Fernando
Author_Institution :
Posgrado en Automatization, Autonomous Univ. of Puebla, Mexico
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;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545518
