DocumentCode
406791
Title
Stability of task-space feedback control for robots with uncertain actuator model: theory and experiments
Author
Cheah, C.C. ; Liaw, H.C.
Author_Institution
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Volume
2
fYear
2003
fDate
2-6 Nov. 2003
Firstpage
1128
Abstract
In this paper, a task-space setpoint controller with uncertain actuator model is proposed. It is shown that the asymptotic stability of the robot´s motion can still be guaranteed even with uncertainties in the actuator and dynamics models. Sufficient conditions for choosing the feedback gains are presented to guarantee the stability. The proposed controller is implemented on an industrial robot, Puma 560, to demonstrate the feasibility of the controller.
Keywords
actuators; asymptotic stability; end effectors; feedback; industrial robots; manipulator dynamics; manipulator kinematics; Puma 560; asymptotic stability; feedback gains; industrial robot; robot end-effector; robot manipulator; robot motion; task-space feedback control; task-space setpoint controller; uncertain actuator model; Actuators; Feedback control; Jacobian matrices; Manipulator dynamics; Orbital robotics; Robot kinematics; Robot motion; Service robots; Stability; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE
Print_ISBN
0-7803-7906-3
Type
conf
DOI
10.1109/IECON.2003.1280208
Filename
1280208
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