Title :
A redesigned DCAL controller without velocity measurements: theory and experimentation
Author :
Burg, T. ; Dawson, D. ; Vedagarbha, P.
Author_Institution :
Dept. of Electr. Eng., Clemson Univ., SC, USA
Abstract :
In this paper, a link position tracking controller is formulated for an n-link, rigid, revolute robot. The controller generates torque commands to the individual robot links based on adaptive estimates of the system parameters and measurements of link positions only. A filtering technique, based on the link position signals, is used to remove the need for velocity measurements. A complete development of the controller is presented along with a proof of semi-global asymptotic link position-velocity tracking performance. Experimental validation of the proposed controller on the Integrated Motion Inc. (IMI) two-link direct drive robot is also presented
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; dynamics; filtering theory; parameter estimation; position control; robots; tracking; Integrated Motion; Lyapunov method; adaptive parameter estimation; adaptive position control; desired composition adaptation law; filtering technique; link position tracking controller; n-link rigid revolute robot; semi-global asymptotic link; two-link direct drive robot; Adaptive control; Control systems; Filtering; Position measurement; Programmable control; Robot control; Torque control; Torque measurement; Velocity control; Velocity measurement;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.410966
