Trajectory Tracking for Robotic Arms with Input Saturation and Only Position Measurements
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| Title: | Trajectory Tracking for Robotic Arms with Input Saturation and Only Position Measurements |
|---|---|
| Authors: | Borja Rosales, L.P. (author), Van Der Veen, J. (author), Scherpen, J. M.A. (author) |
| Source: | 2021 60th IEEE Conference on Decision and Control (CDC). :2434-2439 |
| Publication Status: | Preprint |
| Publisher Information: | IEEE, 2021. |
| Publication Year: | 2021 |
| Subject Terms: | FOS: Computer and information sciences, Computer Science - Robotics, 0209 industrial biotechnology, FOS: Electrical engineering, electronic engineering, information engineering, Systems and Control (eess.SY), 02 engineering and technology, Electrical Engineering and Systems Science - Systems and Control, Robotics (cs.RO) |
| Description: | In this work, we propose a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated and do not require velocity measurements. Moreover, the proposed methodology does not require the implementation of observers, and the structure of the closed-loop system permits the identification of a Lyapunov function, which eases the convergence analysis. To corroborate the effectiveness of the methodology, we perform experiments with the Philips Experimental Robot Arm. 16 pages, 5 figures. It will be submitted to the European Control Conference 2021 |
| Document Type: | Article Conference object |
| DOI: | 10.1109/cdc45484.2021.9683112 |
| DOI: | 10.48550/arxiv.2010.11712 |
| Access URL: | http://arxiv.org/pdf/2010.11712 http://arxiv.org/abs/2010.11712 https://research.rug.nl/en/publications/a5ce01cc-7c95-4c3c-97db-8f76e74db43d https://doi.org/10.1109/CDC45484.2021.9683112 https://hdl.handle.net/11370/a5ce01cc-7c95-4c3c-97db-8f76e74db43d http://resolver.tudelft.nl/uuid:aaf709c4-b689-467a-962c-44d00b56b57f |
| Rights: | STM Policy #29 arXiv Non-Exclusive Distribution taverne |
| Accession Number: | edsair.doi.dedup.....fb65c0995c6e39498f34ba6e03924f0c |
| Database: | OpenAIRE |
Nájsť tento článok vo Web of Science | Abstract: | In this work, we propose a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated and do not require velocity measurements. Moreover, the proposed methodology does not require the implementation of observers, and the structure of the closed-loop system permits the identification of a Lyapunov function, which eases the convergence analysis. To corroborate the effectiveness of the methodology, we perform experiments with the Philips Experimental Robot Arm.<br />16 pages, 5 figures. It will be submitted to the European Control Conference 2021 |
|---|---|
| DOI: | 10.1109/cdc45484.2021.9683112 |