Abstract
This paper presents a motion control algorithm of a robot arm using acceleration feedback in a task coordinate system. The acceleration feedback is used in order to linearize the nonlinear dynamics of a robot arm in a task coordinate system, when the uncertainties of parameters of the robot arm dynamics exist. First, we consider the nonlinear feedback, which linearizes the nonlinear dynamics of a robot arm in a task coordinate system, and discuss the effect of uncertainties of parameters, which are used for the calculation of nonlinear feedback. Then the use of acceleration feedback is discussed in order to eliminate the effect of parameter uncertainties. The total control system is designed for the linearized robot arm in a task coordinate system. Both the proposed control algorithm and the conventional resolved acceleration control algorithm are experimentally applied to a direct-drive arm with two degrees of freedom. Experimental results illustrate the validity of the proposed control algorithm.
| Original language | English |
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| Pages | 161-165 |
| Number of pages | 5 |
| DOIs | |
| Publication status | Published - 1989 Jan 1 |
| Externally published | Yes |
| Event | 1989 IEEE International Conference on Control and Applications, ICCON 1989 - Jerusalem, Israel Duration: 1989 Apr 3 → 1989 Apr 6 |
Conference
| Conference | 1989 IEEE International Conference on Control and Applications, ICCON 1989 |
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| Country | Israel |
| City | Jerusalem |
| Period | 89/4/3 → 89/4/6 |
ASJC Scopus subject areas
- Process Chemistry and Technology
- Artificial Intelligence
- Control and Systems Engineering
- Control and Optimization