This article presents a control scheme for a computer controlled articulated robot arm with sensory feedback. The scheme consists of two parts. First, the dynamics of a robot arm described in a task coordinate system, which is selected appropriately for the use of sensory feedback, is linearized by nonlinear feedback. Then, the model following servo controller is designed so that the effect of errors of parameters, which is used for the linearization of robotic dynamics, can be decreased. The control law is shown to be simplified by the use of high-gain feedback. The scheme is applied to the trajectory tracking control of an articulated robot arm using a laser beam. The experimental results show the effectiveness of the proposed control method.
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering