DocumentCode :
2060239
Title :
Hybrid system design for singularityless task level robot controllers
Author :
Tan, Jindong ; Xi, Ning
Author_Institution :
Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA
Volume :
3
fYear :
2000
fDate :
2000
Firstpage :
3007
Abstract :
This paper presents a hybrid system approach in the design of a singularityless task level controller. To achieve a singularityless motion control in the neighborhood of singularity, the hybrid system approach is used to integrate the task level controller and joint level controller. First, a hybrid system model is developed for the singularityless task level controller. A max-plus dynamic model is used to integrate the discrete switching control and continuous motion control in the controller. Based on this model, a smooth trajectory and control command for the hybrid system can be obtained. The Lyapunov theory was used to prove the stability of the singularityless controller. The new singularityless task level controller has been experimentally implemented and tested on a PUMA 560 robot manipulator. Experimental results have been employed to verify the theoretical conclusions, thus clearly demonstrating the advantages of the new task level control method
Keywords :
Lyapunov methods; control system synthesis; robot dynamics; stability; Lyapunov theory; PUMA 560 robot manipulator; continuous motion control; discrete switching control; hybrid system design; joint level controller; max-plus dynamic model; singularityless motion control; singularityless task level robot controllers design; smooth trajectory; stability; Control systems; Damping; Feedback; Gain; Humans; Motion control; Orbital robotics; Redundancy; Robot control; Robot kinematics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
ISSN :
1050-4729
Print_ISBN :
0-7803-5886-4
Type :
conf
DOI :
10.1109/ROBOT.2000.846484
Filename :
846484
Link To Document :
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