Title :
Stability of task-space feedback control for robots with uncertain actuator model: theory and experiments
Author :
Cheah, C.C. ; Liaw, H.C.
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Abstract :
In this paper, a task-space setpoint controller with uncertain actuator model is proposed. It is shown that the asymptotic stability of the robot´s motion can still be guaranteed even with uncertainties in the actuator and dynamics models. Sufficient conditions for choosing the feedback gains are presented to guarantee the stability. The proposed controller is implemented on an industrial robot, Puma 560, to demonstrate the feasibility of the controller.
Keywords :
actuators; asymptotic stability; end effectors; feedback; industrial robots; manipulator dynamics; manipulator kinematics; Puma 560; asymptotic stability; feedback gains; industrial robot; robot end-effector; robot manipulator; robot motion; task-space feedback control; task-space setpoint controller; uncertain actuator model; Actuators; Feedback control; Jacobian matrices; Manipulator dynamics; Orbital robotics; Robot kinematics; Robot motion; Service robots; Stability; Uncertainty;
Conference_Titel :
Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE
Print_ISBN :
0-7803-7906-3
DOI :
10.1109/IECON.2003.1280208
