Title :
Implementation of an output feedback controller in operational space
Author :
Xia, Qing Hua ; Lim, Ser Yong ; Ang, Marcelo H. ; Lim, Tao Ming
Author_Institution :
Singapore Inst. Manuf. Technol., Nanyang, Singapore
Abstract :
This paper presents an operational space output feedback controller for non-redundant robot manipulators to achieve trajectory tracking without velocity measurements. The overall system can achieve a semi-global exponential stability (SGES) result for the position, orientation and velocity tracking errors as well as velocity observation errors. Experimental results of the proposed controller indicate good position and orientation tracking performance under parametric uncertainty and payload variations.
Keywords :
adaptive control; asymptotic stability; feedback; position control; redundant manipulators; nonredundant robot manipulators; operational space; orientation tracking errors; output feedback controller; parametric uncertainty; payload variations; position tracking errors; semi global exponential stability; trajectory tracking; velocity tracking errors; Extraterrestrial measurements; Manipulators; Orbital robotics; Output feedback; Payloads; Robot control; Stability; Trajectory; Velocity control; Velocity measurement;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249288
