Title :
A validation study of PD control of a closed-chain mechanical system
Author :
Ghorbel, Fathi ; Gunawardana, Ruvinda
Author_Institution :
Dept. of Mech. Eng., Rice Univ., Houston, TX, USA
Abstract :
In this paper, we briefly review recent results by the authors on the formulation of the equations of motion of closed-chain mechanisms and the development of PD control strategies with guaranteed Lyapunov asymptotic stability. We then introduce and derive the equations of motion of the Rice Planar Delta Robot which was designed and built at Rice University as a test bed to perform control experiments for closed-chain mechanisms. Finally, we present simulation as well as experimental results to illustrate the successful application of PD plus simple gravity control strategy for this class of dynamical systems
Keywords :
Lyapunov methods; asymptotic stability; manipulators; two-term control; PD control; PD control strategies; Rice Planar Delta Robot; closed-chain mechanical system; closed-chain mechanisms; dynamical systems; gravity control strategy; guaranteed Lyapunov asymptotic stability; manipulators; motion equations formulation; Asymptotic stability; Equations; Gravity; Mechanical systems; Motion control; PD control; Parallel robots; Performance evaluation; Robot kinematics; Testing;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657896
