Optimal position control for robot manipulators

Author

Barbosa, Febe ; Reyes, Fernando

Author_Institution

Fac. de Ciencias de la Electronica, Benemerita Univ. Autonoma de Puebla, Mexico

Volume

3

fYear

2003

fDate

27-30 Dec. 2003

Firstpage

1043

Abstract

This paper deals with the optimal position control in joint-space coordinate of robot manipulators. An optimal position algorithm based on Pontryagin maximum principle is proposed. Our main contribution is to proof that the closed-loop system composed by full nonlinear robot dynamics and optimal position control is globally asymptotically stable in agreement with Lyapunov´s direct method and LaSalle´s invariance principle. Besides the theoretical results, time-real experimental result is presented to illustrate the performance of proposed optimal algorithm on a pendula-robot.

Keywords

asymptotic stability; closed loop systems; manipulators; optimal control; position control; LaSalle invariance principle; Lyapunov direct method; Pontryagin maximum principle; asymptotically stable; closed-loop system; joint-space coordinate; nonlinear robot dynamics; optimal algorithm; optimal position control; pendula-robot; robot manipulators; Automotive components; Cost function; Manipulator dynamics; Optimal control; PD control; Pi control; Position control; Robot kinematics; Symmetric matrices; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Circuits and Systems, 2003 IEEE 46th Midwest Symposium on

ISSN

1548-3746

Print_ISBN

0-7803-8294-3

Type

conf

DOI

10.1109/MWSCAS.2003.1562473

Filename

1562473