Title :
On manipulator control by exact linearization
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
fDate :
7/1/1989 12:00:00 AM
Abstract :
Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, and the fact that there is an independent input for each degree of freedom, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular
Keywords :
acceleration control; dynamics; linearisation techniques; robots; Jacobian matrix; end effector dynamics; exact linearization; geometric control theory; manipulator control; mass matrix; nonlinear decoupling theory; operational space control; resolved acceleration control; rigid link manipulators; Acceleration; Aerodynamics; Control theory; End effectors; Jacobian matrices; Manipulator dynamics; Nonlinear control systems; State feedback; Sufficient conditions; Torque;
Journal_Title :
Automatic Control, IEEE Transactions on