Operational Space Control for a Puma Robot

This article shows a simple methodology to implement an operational space control on a 6-DOF arm robot. First, the model is linearized and decoupled by feedback, next a computed torque control scheme in the operational space is implemented with a Jacobian matrix calculus running within small sampling period, is exhibited. Major simulation results performed using numerical values of an industrial PUMA robot prove the effectiveness of the proposed approach. The performance of the operational space control and the widely used computed torque control in the joint space is compared. The simulated results are presented to illustrate the behavior of the control schemes with tracking performance and robustness with respect to external disturbances and errors in the dynamic model.