Title :
Joint position tracking with prescribed performance of uncertain robotic manipulators using only joint position measurements
Author :
Dimitrios Papageorgiou;Ilias Katsoukis;George A. Rovithakis;Zoe Doulgeri
Author_Institution :
Department of Electrical &
Abstract :
We consider joint position tracking of a desired reference trajectory for a n-dof robotic manipulator, utilizing only joint position measurements. The proposed controller is structurally and computationally simple and achieves prescribed transient and steady state performance bounds on the joint position tracking error. Knowledge of the actual robot dynamics is not required. Furthermore, no approximating structures (i.e., neural networks, fuzzy systems) are utilized to compensate for the absence of such knowledge. The performance of the controller designed is demonstrated via simulations and experiments conducted on a KUKA LWR4+ robotic manipulator.
Keywords :
"Manipulators","Position measurement","Trajectory","Transient analysis","Steady-state","Nonlinear systems"
Conference_Titel :
Decision and Control (CDC), 2015 IEEE 54th Annual Conference on
DOI :
10.1109/CDC.2015.7402423