Title :
New control structure in Cartesian space
Author :
Sánchez-Sánchez, Pablo ; Reyes-Cortés, Fernando
Author_Institution :
Univ. of Puebla
Abstract :
The main objective of this paper is to propose a new controller scheme for robot manipulators on Cartesian space with formal stability proof. To verify the performance of the proposed controller we compared its behavior with the Cartesian PD controller. In this paper we described 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 control algorithm with global asymptotic stability of the closed-loop system
Keywords :
PD control; asymptotic stability; closed loop systems; manipulators; position control; Cartesian PD control; Cartesian space; closed-loop system; global asymptotic stability; position control; robot manipulators; Control systems; Manipulators; Orbital robotics; PD control; Position control; Real time systems; Research and development; Robot control; Stability; System testing; Artificial Potential Energy; Cartesian Controller; DRILL-BOT; Energy Shaping; Jacobian Transposed Controller; Performance Index;
Conference_Titel :
Mechatronics and Automation, Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Luoyang, Henan
Print_ISBN :
1-4244-0465-7
Electronic_ISBN :
1-4244-0466-5
DOI :
10.1109/ICMA.2006.257558
