TY - JOUR
T1 - A class of OFT controllers for torque-saturated robot manipulators
T2 - Lyapunov stability and experimental evaluation
AU - Moreno-Valenzuela, Javier
AU - Santibáñez, Víctor
AU - Campa, Ricardo
N1 - Funding Information:
Acknowledgements This work is partially supported by DGEST, CONACyT, Mexico, grants 60230 and 52174, and SIP-IPN.
PY - 2008/1
Y1 - 2008/1
N2 - The trajectory tracking of robot manipulators is addressed in this paper. Two important practical situations are considered: the fact that robot actuators have limited power, and that only position measurements are carried out. Let us notice that a few solutions for the torque-bounded OFT (output feedback tracking) control has been proposed. In this paper we contribute to this subject by presenting a class of OFT controllers for torque-constrained robots. The theory of singularly perturbed systems is crucial in the analysis of the closed-loop system trajectories. As a second contribution of this paper, we present a detailed experimental study of six control schemes, which were tested in a two degrees-of-freedom direct-drive robot, confirming the advantages of the proposed methodology.
AB - The trajectory tracking of robot manipulators is addressed in this paper. Two important practical situations are considered: the fact that robot actuators have limited power, and that only position measurements are carried out. Let us notice that a few solutions for the torque-bounded OFT (output feedback tracking) control has been proposed. In this paper we contribute to this subject by presenting a class of OFT controllers for torque-constrained robots. The theory of singularly perturbed systems is crucial in the analysis of the closed-loop system trajectories. As a second contribution of this paper, we present a detailed experimental study of six control schemes, which were tested in a two degrees-of-freedom direct-drive robot, confirming the advantages of the proposed methodology.
KW - Direct-drive robot
KW - Lyapunov theory
KW - Robot manipulator
KW - Tracking control
KW - Unmeasurable joint velocity
UR - http://www.scopus.com/inward/record.url?scp=37249020945&partnerID=8YFLogxK
U2 - 10.1007/s10846-007-9181-6
DO - 10.1007/s10846-007-9181-6
M3 - Artículo
SN - 0921-0296
VL - 51
SP - 65
EP - 88
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 1
ER -