Global regulation of robots using only position measurements


Berghuis, Harry and Nijmeijer, Henk (1993) Global regulation of robots using only position measurements. Systems & control letters, 21 (4). pp. 289-295. ISSN 0167-6911

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Abstract:In this note we propose a simple solution to the regulation problem of rigid robots based on the availability of only joint position measurements. The controller consists of two parts: (1) a gravitation compensation, (2) a linear dynamic first-order compensator. The gravitation compensation part can be chosen to be a function of either the actual joint position or the desired joint position. Both possibilities are aproved to yield global asymptotic stability. Performance issues of the controller are illustrated in a simulation study of a two degrees-of-freedom robot manipulator.
Item Type:Article
Copyright:© 1993 Elsevier Science
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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