Title :
Task space robot control using an inner PD loop.
Author :
Garrido, R. ; Canul, E. ; Soria, A.
Author_Institution :
Dept. de Control Automatico, IPN, Mexico City, Mexico
Abstract :
This paper presents a task-space robot controller composed of two nested loops. The inner loop corresponds to a proportional-derivative joint-position controller and the outer loop consists of a proportional-integral controller fed by task space measurements. The Lyapunov method allows concluding closed loop stability and a visual servoing application permits assessing the performance of the proposed controller.
Keywords :
Lyapunov methods; PD control; PI control; aerospace robotics; closed loop systems; manipulators; position control; robot vision; visual servoing; Lyapunov method; closed loop stability; inner PD loop; proportional-derivative joint-position controller; proportional-integral controller; robot manipulators; task space robot control; visual servoing application; Damping; Extraterrestrial measurements; Manipulator dynamics; Orbital robotics; PD control; Pi control; Position measurement; Proportional control; Robot control; Robot kinematics;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152307
