Nonlinear feedback method of robot control: a preliminary experimental study

The nonlinear feedback method of robot control has been experimentally implemented on two PUMA 560 robot arms. The feasibility of the proposed controller, which is already known to be viable, is stressed. The servomechanism operates in task space, and the nonlinear feedback takes care of the necessary transformations to compute the necessary joint currents. A discussion is presented of the implementation with details of the experiments performed. The performance of the controller is encouraging but was limited to 100 Hz sampling frequency and to derived velocity information at the time of the experimentation. The setup of the lab, the software aspects, results, and the control hardware architecture that has recently been implemented are discussed