Global regulation of robots using only position measurements

Harry Berghuis; Henk Nijmeijer

doi:10.1016/0167-6911(93)90071-D

Global regulation of robots using only position measurements

Harry Berghuis, Henk Nijmeijer

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Abstract

In this note we propose a simple solution to the regulation problem of rigid robots based on the availability of only joint position measurements. The controller consists of two parts: (1) a gravitation compensation, (2) a linear dynamic first-order compensator. The gravitation compensation part can be chosen to be a function of either the actual joint position or the desired joint position. Both possibilities are aproved to yield global asymptotic stability. Performance issues of the controller are illustrated in a simulation study of a two degrees-of-freedom robot manipulator.

Original language	English
Pages (from-to)	289-295
Number of pages	7
Journal	Systems and control letters
Volume	21
Issue number	21
DOIs	https://doi.org/10.1016/0167-6911(93)90071-D
Publication status	Published - 1993

Keywords

IR-29963
METIS-140597

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10.1016/0167-6911(93)90071-D

Berghuis93global

Cite this

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title = "Global regulation of robots using only position measurements",

abstract = "In this note we propose a simple solution to the regulation problem of rigid robots based on the availability of only joint position measurements. The controller consists of two parts: (1) a gravitation compensation, (2) a linear dynamic first-order compensator. The gravitation compensation part can be chosen to be a function of either the actual joint position or the desired joint position. Both possibilities are aproved to yield global asymptotic stability. Performance issues of the controller are illustrated in a simulation study of a two degrees-of-freedom robot manipulator.",

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AU - Berghuis, Harry

AU - Nijmeijer, Henk

PY - 1993

Y1 - 1993

N2 - In this note we propose a simple solution to the regulation problem of rigid robots based on the availability of only joint position measurements. The controller consists of two parts: (1) a gravitation compensation, (2) a linear dynamic first-order compensator. The gravitation compensation part can be chosen to be a function of either the actual joint position or the desired joint position. Both possibilities are aproved to yield global asymptotic stability. Performance issues of the controller are illustrated in a simulation study of a two degrees-of-freedom robot manipulator.

AB - In this note we propose a simple solution to the regulation problem of rigid robots based on the availability of only joint position measurements. The controller consists of two parts: (1) a gravitation compensation, (2) a linear dynamic first-order compensator. The gravitation compensation part can be chosen to be a function of either the actual joint position or the desired joint position. Both possibilities are aproved to yield global asymptotic stability. Performance issues of the controller are illustrated in a simulation study of a two degrees-of-freedom robot manipulator.

KW - IR-29963

KW - METIS-140597

U2 - 10.1016/0167-6911(93)90071-D

DO - 10.1016/0167-6911(93)90071-D

M3 - Article

SN - 0167-6911

VL - 21

SP - 289

EP - 295

JO - Systems and control letters

JF - Systems and control letters

IS - 21

ER -

Global regulation of robots using only position measurements

Abstract

Keywords

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