DocumentCode
3473230
Title
Tracking control of robots using only position measurements
Author
Berghuis, H. ; Lohnberg, P. ; Nijmeijer, H.
Author_Institution
Twente Univ., Enschede, Netherlands
fYear
1991
fDate
11-13 Dec 1991
Firstpage
1039
Abstract
A tracking controller for robots that is based on position measurements only is presented. The controller consists of a computed torque like control part together with an observer part that determines an estimate of the velocity signal. A nice property of this observer is its linearity, which is in fact a consequence of the linearization of the computed torque control part in the ideal case. Under fairly general conditions on the controller and observer gains, exponential stability of the closed loop system is proven
Keywords
closed loop systems; linearisation techniques; position control; robots; stability; state estimation; torque control; closed loop system; exponential stability; linearization; observer; position measurements; robots; torque control; tracking controller; Closed loop systems; Control systems; Linearity; Manipulator dynamics; Position measurement; Robot control; Robot kinematics; Stability; Torque control; Velocity control; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location
Brighton
Print_ISBN
0-7803-0450-0
Type
conf
DOI
10.1109/CDC.1991.261480
Filename
261480
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