A redesigned DCAL controller without velocity measurements: theory and experimentation

Author

Burg, T. ; Dawson, D. ; Vedagarbha, P.

Author_Institution

Dept. of Electr. Eng., Clemson Univ., SC, USA

Volume

1

fYear

1994

Firstpage

824

Abstract

In this paper, a link position tracking controller is formulated for an n-link, rigid, revolute robot. The controller generates torque commands to the individual robot links based on adaptive estimates of the system parameters and measurements of link positions only. A filtering technique, based on the link position signals, is used to remove the need for velocity measurements. A complete development of the controller is presented along with a proof of semi-global asymptotic link position-velocity tracking performance. Experimental validation of the proposed controller on the Integrated Motion Inc. (IMI) two-link direct drive robot is also presented

Keywords

Lyapunov methods; adaptive control; asymptotic stability; dynamics; filtering theory; parameter estimation; position control; robots; tracking; Integrated Motion; Lyapunov method; adaptive parameter estimation; adaptive position control; desired composition adaptation law; filtering technique; link position tracking controller; n-link rigid revolute robot; semi-global asymptotic link; two-link direct drive robot; Adaptive control; Control systems; Filtering; Position measurement; Programmable control; Robot control; Torque control; Torque measurement; Velocity control; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on

Print_ISBN

0-7803-1968-0

Type

conf

DOI

10.1109/CDC.1994.410966

Filename

410966