TY - JOUR
T1 - Velocity field control of a class of electrically-driven manipulators
AU - Moreno-Valenzuela, Javier
AU - Campa, Ricardo
AU - Santibáñez, Víctor
N1 - Funding Information:
This work was partially supported by Instituto Politécnico Nacional–SIP, CONACyT projects 176587 and 134534, and DGEST, Mexico.
PY - 2014/3/1
Y1 - 2014/3/1
N2 - This article addresses the control of robotic manipulators under the assumption that the desired motion in the operational space is encoded through a velocity field. In other words, a vectorial function assigns a velocity vector to each point in the robot workspace. Thus, the control objective is to design a control input such that the actual operational space velocity of the robot end-effector asymptotically tracks the desired velocity from the velocity field. This control formulation is known in the literature as velocity field control. A new velocity field controller together with a rigorous stability analysis is introduced in this article. The controller is developed for a class of electrically-driven manipulators. In this class of manipulators, the passivity property from the servo-amplifier voltage input to the joint velocity is not satisfied. However, global exponential stability of the state space origin of the closed-loop system is proven. Furthermore, the closed-loop system is proven to be and output strictly passive map from an auxiliary input to a filtered error signal. To confirm the theoretical conclusions, a detailed experimental study in a two degrees-of-freedom direct-drive manipulator is provided. Particularly, experiments consist of comparing the performance of a simple PI controller and a high-gain PI controller with respect to the new control scheme.
AB - This article addresses the control of robotic manipulators under the assumption that the desired motion in the operational space is encoded through a velocity field. In other words, a vectorial function assigns a velocity vector to each point in the robot workspace. Thus, the control objective is to design a control input such that the actual operational space velocity of the robot end-effector asymptotically tracks the desired velocity from the velocity field. This control formulation is known in the literature as velocity field control. A new velocity field controller together with a rigorous stability analysis is introduced in this article. The controller is developed for a class of electrically-driven manipulators. In this class of manipulators, the passivity property from the servo-amplifier voltage input to the joint velocity is not satisfied. However, global exponential stability of the state space origin of the closed-loop system is proven. Furthermore, the closed-loop system is proven to be and output strictly passive map from an auxiliary input to a filtered error signal. To confirm the theoretical conclusions, a detailed experimental study in a two degrees-of-freedom direct-drive manipulator is provided. Particularly, experiments consist of comparing the performance of a simple PI controller and a high-gain PI controller with respect to the new control scheme.
KW - Lyapunov function
KW - real-time experiments
KW - robot manipulator
KW - stability
KW - velocity field control
UR - http://www.scopus.com/inward/record.url?scp=84884881013&partnerID=8YFLogxK
U2 - 10.1080/00207721.2012.720294
DO - 10.1080/00207721.2012.720294
M3 - Artículo
SN - 0020-7721
VL - 45
SP - 254
EP - 270
JO - International Journal of Systems Science
JF - International Journal of Systems Science
IS - 3
ER -